Kappa-tau type PI tuning rules for specified robust levels

New tuning rules for 2-DoF PI controllers in the spirit of the kappa-tau ones are addressed in this paper. In particular, tuning rules have been devised in order to minimize the integrated absolute error with a constraint on the maximum sensitivity MS. Different tuning rules have been obtained for a batch of plants and for several robustness levels in terms of MS. The setpoint weight is also exploited to improve the setpoint following performance because the PI controller is tuned by optimizing the load disturbance rejection performance. In particular, explicit tuning rules are given in order to select the optimal setpoint weight to minimize the integrated absolute error. Simulation results demonstrate the effectiveness of these methodologies. Some comments relating to industrial practice are offered in this context.