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- PID tuning – past, present and futurePublication . Cox, C. J.; Donovan, A. F.; Ruano, AntonioThis paper chronicles the development of pc based software designed to facilitate a self tuning scheme for industrial controllers. The technique, based around the relay auto tuning method has proved highly successful in field trials and industrial application. From an original DOS based platform, the software has been developed to take advantage of the multi-tasking nature of the Windows operating system. However, during this evolution new features have been added to further improve the software.