Proportional-integral-derivative (PID) control is certainly the most widely used control strategy today. It is estimated that over 90% of control loops employ PID control, quite often with the derivative gain set to zero (PI control). Over the last half-century, a great deal of academic and industrial effort has focused on improving PID control, primarily in the areas of tuning rules, identification schemes, and adaptation techniques. It is appropriate at this time to consider the state of the art in PID control as well as new developments in this control approach.
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Carl R. Knospe (2006) studied this question.