PI/PID autotuning with contextual model parametrisation

In model-based PI/PID tuning regulators, the same set of I/O data and the same tuning rule can produce very different results, depending just on the procedure used to parametrise the process model. The problem is seldom addressed, but extremely relevant for the acceptability of model-based autotuners in the applications. This manuscript proposes a methodology to treat the model parametrisation and regulator tuning phases jointly, so as to circumvent said problem with affordable process stimulation and computational effort. The methodology can be generalised to different regulator structures, and even employed to devise new tuning rules.