In this thesis, an automatic tuning method for multi loop controllers used for SISO(single input single output) plants is proposed. Specifically, under the assumption that controllers are all of PID type, a set of optimal parameters are tuned according to the rule of minimizing a performance index selected for best tracking of the reference model given by the user. In case that the mathematical model of the plant is not available, it is suggested to use an impulse test signal to get the frequency response model of the plant via Fourier transform for a robust model. Also, the suggested tuning method allows one to retune the controller parameters with ease by adjusting the reference model output. Computer simulation shows that the method is more effective than known tuning methods such as Ziegler and Nichols method.
