Revisiting the Magnitude Optimum criterion for robust tuning of PID type-I control loops

► The conventional PID tuning via the Magnitude Optimum criterion reveals three drawbacks regarding reference tracking and output disturbance rejection within the control loop. ► To overcome these drawbacks a revised PID control law is proposed consisting of explicit analytical expressions. ► The proposed control law can be applied to any linear Single Input Single Output stable process regardless of its complexity. ► The conventional control law is compared with the proposed PID tuning achieving promising results both in time and frequency domain.