Classical and modern controllers can satisfy a wide range of specifications when their internal parameters are selected correctly. A good balance between sensitivity, control effort and speed of response is generally the main objective of tuning. Numerous tuning guidelines for MPC have been proposed in the literature; many of them have been converted into suitable tuning rules and investigated with the help of simulations of processes. For instance, Yamuna and Unbehauens have published a study that resumes some of the tuning methods; for DMC and GPC approximations, available at the publication date of their paper , they used simulations of two transfer functions, a nonlinear unstable chemical reactor and a real-time laboratory turbo-generator control to evaluate the tuning methods. Garcia et al. have also addressed the tuning problem; in their work , they reviewed theorems and some general guidelines about tuning MPC. There are also, in the published literature, some guidelines or tuning discussion for specific MPC approximations, for instance GPC , DMC [204, 205] and MPC based on linear programming . The MPC tuning is still an open research area and there are works recently published, for example [206, 207]. The guide presented in this chapter has the objective to resume the strategies used in this monograph to tune the PID and MPC.
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