Abstract
Tuning an ideal PID and then using its parameters in a real one, can yield undesired results. Nonetheless, many rules conceived for the ideal PID are successfully used in practice, owing to their greater flexibility. A systematic method would thus be useful to extend ideal PID tuning rules to the real PID, so as to preserve said flexibility while synthesising a realistic controller. This manuscript proposes a simple solution, and some examples to witness its validity.
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