关键词：控制器；继电反馈测试；PID控制器；定时
摘 要：The holistic approach to PID controller tuning, which involves the coordinated use of modified relay feedback test and tuning rules, is presented in this chapter. It is shown that with this approach, specifications to gain margin or phase margin can be satisfied. Performance requirements to a number of typical industrial processes are analysed, and optimal tuning rules for the modified relay feedback test application are produced on the basis of this analysis.