List of figures; List of tables; Acknowledgements; Preface; 1. Introduction; 2. Improved autotune identification methods; 3. Cascade controller tuning by relay autotune method; 4. Simultaneous relay autotuning of cascade controllers; 5. A simple method of tuning cascade controllers; 6. Improved saturation relay test for systems with large dead time; 7. Identification of FOPTD model using single symmetrical relay test; 8.

Autotuning of PID controllers for unstable FOPTD systems; 9. Autotuning of PID controllers for critically damped SOPTD systems; 10. Estimation of SOPTD transfer function model; 11. Estimation of five parameters of unstable SOPTD model with a zero; 12. Identification of FOPTD multivariable systems; 13. Identification of SOPTD multivariable systems; 14. Tuning of multivariable controllers for non-minimum phase systems; 15. Tuning of multivariable controllers by genetic algorithms; 16.

Summary and conclusion; Appendices; Nomenclature; Suggestive reading; References; Index.