Outline
00:00 - Intro
08:35 - What is PID control?
12:15 - The history: Minorsky, 1922, and steering ships
21:00 - The lambda method, IMC, and analytical tuning
28:45 - Set-point weighting and two degrees of freedom
32:50 - Automatic tuning and the relay feedback problem
40:35 - The Lund school and Karl Johan Åström
50:20 - PID is nearly optimal
57:30 - PID tuning: the elephant in the room
1:01:35 - Open problems and the one-third rule
1:05:45 - Feedforward: the unsung hero
1:15:00 - PID as a building block in large-scale control
1:21:40 - Teaching, outsourcing, and lost knowledge
1:28:15 - PID in the AI age
1:32:25 - Microalgae and sustainable process control
1:40:05 - Advice for young researchers and the future of PID

Links
Hägglund & Guzmán, "Give us PID controllers and we can control the world": https://doi.org/10.1016/j.ifacol.2024.08.018
Minorsky, "Directional Stability of Automatically Steered Bodies": https://doi.org/10.1111/j.1559-3584.1922.tb04958.x
Hazen, "Theory of Servo-Mechanisms": https://doi.org/10.1016/S0016-0032(34)90254-4
Ziegler & Nichols, "Optimum Settings for Automatic Controllers": https://doi.org/10.1115/1.4019264
Dahlin, "Designing and Tuning Digital Controllers" (the lambda method): https://skoge.folk.ntnu.no/puublications_others/1968_Dahlin%20-%20Designing%20and%20tuning%20digital%20controllers.pdf
Rivera, Morari & Skogestad, "Internal Model Control: PID Controller Design": https://skoge.folk.ntnu.no/publications/1986/Rivera86/Rivera86.pdf
Åström & Hägglund, "Automatic Tuning of Simple Regulators": https://cse.lab.imtlucca.it/~bemporad/teaching/controllodigitale/pdf/Astrom-ACC89.pdf
Hägglund & Åström, "Industrial Adaptive Controllers Based on Frequency Response Techniques": https://doi.org/10.1016/0005-1098(91)90052-4
Åström & Hägglund, "The Future of PID Control": https://doi.org/10.1016/S0967-0661(01)00062-4
Hägglund, "A Unified Discussion on Signal Filtering in PID Control": https://doi.org/10.1016/j.conengprac.2013.03.012
Theorin & Hägglund, "Derivative Backoff: The Other Saturation Problem": https://doi.org/10.1016/j.jprocont.2015.06.008
Hägglund, mid-ranging control (2021): https://skoge.folk.ntnu.no/puublications_others/apc-papers/midranging-control-vpc-hagglund-2020.pdf
Guzmán & Hägglund, "Simple Tuning Rules for Feedforward Compensators": https://doi.org/10.1016/j.jprocont.2010.10.007
Guzmán, Hägglund, Veronesi & Visioli, "Performance Indices for Feedforward Control": https://doi.org/10.1016/j.jprocont.2014.12.004
Del Hoyo, Hägglund, Guzmán & Moreno: https://doi.org/10.1016/j.conengprac.2023.105636
Pawlowski, Guzmán, Normey-Rico & Berenguel, "Improving Feedforward Disturbance Compensation in GPC": Improving feedforward disturbance compensation capabilities in Generalized Predictive Control
Guzmán & Hägglund, "Feedforward Control: Analysis, Design, Tuning Rules, and Implementation": https://books.google.it/books/about/Feedforward_Control.html?id=f_C00AEACAAJ
Normey-Rico & Guzmán, "Unified PID Tuning Approach for Dead-Time Processes": https://doi.org/10.3182/20120328-3-IT-3014.00006
Soltesz & Cervin, "When Is PID a Good Choice?": https://doi.org/10.1016/j.ifacol.2018.06.074
Grimholt, PID optimality: https://skoge.folk.ntnu.no/publications/thesis/2018_grimholt/phd-thesis-grimholt-2018.pdf
Hägglund & Guzmán, "Development of Basic Process Control Structures": https://doi.org/10.1016/j.ifacol.2018.06.202
Skogestad, "Advanced Control Using Decomposition and Simple Elements": https://doi.org/10.1016/j.arcontrol.2023.100903
Guzmán, Hägglund et al., "Understanding PID Design Through Interactive Tools": https://doi.org/10.3182/20140824-6-ZA-1003.01328
ISA-TR5.9-2023, "Proportional-Integral-Derivative Control Algorithms and Performance": https://www.isa.org/products/isa-tr5-9-2023-proportional-integral-derivative-pi
Vilanova & Visioli, "PID Control in the Third Millennium": https://books.google.it/books/about/PID_Controllers.html?id=FsyhngEACAAJ
Brian Douglas — control engineering education videos: https://engineeringmedia.com/videos

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Acknowledgments and sponsors
This episode was supported by the National Centre of Competence in Research on «Dependable, ubiquitous automation» and the IFAC Activity fund. The podcast benefits from the help of an incredibly talented and passionate team. Special thanks to L. Seward, E. Cahard, F. Banis, F. Dörfler, J. Lygeros, ETH studio and mirrorlake . Music was composed by A New Element.

ep47 - Tore Hägglund and José Luis Guzman: the art of PID control

inControl

ep47 - Tore Hägglund and José Luis Guzman: the art of PID control