Model Parametrisation and Rule Selection for Problem-tailored PID Autotuning

When employing measured input/output data to determine the parameters of a process model and then exploiting that model to tune a controller, the used parametrisation procedure can exert a significant (and often overlooked) influence on the obtained results. In this paper we propose a methodology to select the best combination of model parametrisation procedure and (PID) controller tuning rule depending on the nature of the control problem to address, characterised by conveniently defined quality indices.