Recognising the benefits of improved control, this book aims to provide simple and yet effective methods of improving controller performance. It bridges the gap between the conventional tuning practice and new generations of autotuning methods. Practical issues facing controller tuning are treated, such as measurement noises, process nonlinearity, load disturbances, and multivariable interaction, and tools are also given. Numerous worked examples and case studies are used to illustrate the autotuning procedure, and MATLAB programs to execute autotuning steps are given. This book is intended to be an independent learning tool, and is particularly invaluable to practitioners and scientist, as well as graduate and undergraduate students. The reader will therefore find it useful, particularly as it is applicable to engineering practice

1 Introduction.- 2 Relay Feedback.- 3 Improved Relay Feedback.- 4 Systems with Unstable Zeros or Poles.- 5 Multivariable Systems.- 6 Load Disturbance.- 7 Process Nonlinearity.- 8 Controller Monitoring.- 9 Autotuning for Plantwide Control Systems.- 10 Guidelines for Autotune Procedure.- A MATLAB programs for different kinds of relays.