he Good Gain method for simple experimental tuning of PI controllers

A novel experimental method -here denoted the Good Gain method -for tuning PI controllers is proposed.The method can be regarded as an alternative to the famous Ziegler-Nichols' Ultimate Gain method.The approach taken resembles the Ziegler-Nichols' method as it is based on experiments with the closed loop system with proportional control.However, the method does not require severe process upset during the tuning like sustained oscillations.Only well-damped responses are assumed.Furthermore, in the present study it is demonstrated that the approach typically gives better stability robustness comparing with the Ziegler-Nichols' method.The method is relatively simple to use which is beneficial for the user.A theoretical rationale based on second order dynamics is given.