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A survey by Desborough and Miller (2002) of over 11,000 controllers in the process industries found that over 97% of regulatory controllers use the PID algorithm. Kano and Ogawa (2010) reported that PID control, conventional advanced control and model predictive control are used in an approximately 100:10:1 ratio. Although, a PID controller has only three adjustable parameters, finding appropriate settings is not simple, resulting in many controllers being poorly tuned and time consuming plant tests often being necessary to obtain process parameters for improved controller settings.

IMC Filter Design for PID Controller Tuning of Time Delayed Processes