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The experience gained with numerous successful applications permits torevisit some points of model-free control. The numerical differentiation ofnoisy signals may be replaced by a real time parameter identification which ismuch simpler. The strange ubiquity of classic PIDs is explained as well as thealmost universal utilization of ultra-local models of order 1. We show thateven with a partially known model the utilization of an intelligent PIcontroller remains profitable. Two examples, an inverted pendulum and a heatexchanger, seem to confirm the superiority of model-free control with respectto sliding modes control and techniques stemming from infinite-dimensionalsystems, such as delays or partial differential equations. Our paper isillustrated by several computer simulations.

Nothing is as Practical as a Good Theory: Model-Free Control Rien de plus utile qu'une bonne th\'eorie: la commande sans mod\`ele