3. Principle of the experimental PID tuning method

The method, based on index testing, comprises the following steps.

1: Perform an index test on the closed-loop system controlled with a pure proportional corrector, C (p ) = A. The value A of the proportional corrector is set to stabilize the closed-loop system, but the aim is to obtain a damped oscillation on the index response, as this facilitates identification.

2: Identify a model H (p ) of the transfer function of the closed-loop system using this experimental test. Choose a model 4