A lot of automatic feedback control and learning tasks carried out on many dynamical systems still fundamentally rely on a form of proportional–integral–derivative (PID) control law. The PID law is often viewed as a simplistic computational control algorithm. However just like all non-convex optimization problems, tuning the PID algorithm for accurate and stable closed-loop control becomes a NP-Hard Problem. This leads to a dilemma, for both users and designers, most especially in practise. It is then no wonder that tuning software is a big business in the industrial automation sector. In this review, we present and classify PID tuning methods till date into three general areas. Finally, we then present a proposal to minimize the dilemma of complexity and cost that has become associated with tuning the three main parameters of the PID control law. Hopefully, continuous attempts at the minimization of this dilemma can lead to both a money-savings investment and a significant improvement in the field of PID control design.

在许多动态系统上执行的许多自动反馈控制和学习任务仍然从根本上依赖于比例-积分-微分 (PID) 控制律的一种形式。PID 定律通常被视为一种简单化的计算控制算法。然而，就像所有非凸优化问题一样，为准确和稳定的闭环控制调整 PID 算法成为一个 NP-Hard 问题。这导致用户和设计者陷入两难境地，尤其是在实践中。难怪调优软件是工业自动化领域的一项大生意。在这篇评论中，我们将迄今为止的 PID 调整方法分为三个一般领域。最后，我们提出了一个建议，以尽量减少与调整 PID 控制律的三个主要参数相关的复杂性和成本的困境。