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Performance assessment and retuning techniques for proportional-integral-derivative (PID) controllers are reviewed in this paper. In particular, we focus on techniques that consider deterministic performance and that use routine operating data (that is, set-point and load disturbance step signals). Simulation and experimental results show that the use of integrals of predefined signals can be effectively employed for the estimation of the process parameters and, therefore, for the comparison of the current controller with a selected benchmark

Deterministic Performance Assessment and Retuning of Industrial Controllers Based on Routine Operating Data: Applications