摘要：AbstractLambda tuning is frequently employed for PI(D) controllers in the process industry because of its simplicity and intuitiveness for the user. In this paper we analyze the fundamental choice of the tuning parameter λ, that is, of the desired closed-loop time constant, by considering different trade-offs that can be posed by the user in the controller design. In particular, we consider the trade-off between bandwidth and gain or phase margin and that between performance and maximum sensitivity. The achievement of a specified maximum sensitivity is also addressed. Simple analytical formulas are determined so that they can be used in order to provide an optimized tuning in different contexts.
