More PID Loops Tuned by BESTune

Shown below is the PID control system designed using Simulink. The reference
signal (setpoint) changes from 0 to 4 at time t=50. The PID controller is tuned
using the BESTune technology. This simulation program can be downloaded
by RIGHT (not left) clicking on this link and choose "save as...".(You need
Matlab and Simulink of MathWorks Inc to run this simulation).

1. A=(s+1)8, B=1 (Used by Eurotherm and Foxboro to test PID controller

performance): The performance is shown below.
(1) The optimal tuning is done for PID controller: Kp=0.3515,
Ki=0.0911, and Kd=0.3516.
(2) The optimal tuning is done for PI controller: Kp= 0.1722,
Ki=0.0680, and Kd=0.
2. A=(s+1)(0.1s+1)(0.01s+1)( 0.001s +1), B=1. The controller performance is shown
below.
(1) The optimal tuning is done for PID controller: Kp=77.2731,
Ki=522.2601, and Kd=3.3083 (Left figure).
(2) The optimal tuning is done for PI controller: Kp=2.8479,
Ki=4.4986, Kd=0 (Right figure).
3. A=(s+1)3, B=1-5s. The performance is shown below.
(1) The optimal tuning is done for PID controller: Kp= 0.2440,
Ki=0.1032, and Kd=0.1467 (Left figure).
(2) The optimal tuning is done for PI controller: Kp= 0.1251,
Ki=0.0787, and Kd=0 (Right figure).
4. A=(s+1)(s2+0.2s+1), B=1. The performance is shown below.
(1) The optimal tuning is done for PID controller: Kp= 0.9947,
Ki=0.3155, Kd=2.4846 (Left figure).
(2) The optimal tuning is done for I-only controller: Kp= 0, Ki=0.0743,
and Kd=0 (Right figure).
5. A=s2-1, B=1. The performance is shown below.
(1) The optimal tuning is done for PID controller: Kp= 1393.4,
Ki=9998.8, Kd=64.6 (Left figure).
(2) The optimal tuning is done for PID controller with the constraints
that the parameters are not allowed to be larger than 9: Kp= 9.0000,
Ki=4.3547, and Kd=4.8989 (Right figure).
6. A=s, B=1. The performance is shown below.
(1) The optimal tuning is done for PI controller with the constraints
that the parameters are not allowed to be larger than 9999: Kp=
200.0, Ki=9999, Kd=0 (Left figure).
(2) The optimal tuning is done for PI controller with the constraints
that the parameters are not allowed to be larger than 5: Kp=4.4721,
Ki=5, and Kd=0 (Right figure).