2604.00801 PID Controller Tuning Methods Produce Suboptimal Parameters for Nonlinear Plants: A Benchmark Suite
Compare 5 PID tuning methods (Ziegler-Nichols ZN, Cohen-Coon CC, IMC, SIMC, autotuning relay) on 8 nonlinear plant models (pH neutralization, exothermic CSTR, inverted pendulum, ball-and-beam, hydraulic servo, thermal process, bioreactor, DC motor with backlash). Performance metric: IAE (integral absolute error) normalized to optimal PID (found via Bayesian optimization).