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In this manuscript, tuning rules are proposed for conventional series and parallel cascade control structures with emphasis on stable processes. Both primary and secondary controllers are assumed as proportional-integral (PI) type and are designed using the method of moments (MOM). In MOM, the controller parameters are computed by comparing the corresponding derivatives of the expected and actual closed-loop transfer functions at s=0. Moreover, equations relating closed-loop time constants and maximum sensitivity are also obtained. Despite of its simplicity, the proposed method yields robust and superior closed-loop performance.
Raja et al. (Thu,) studied this question.