Chen C.-L.Yang S.-F.Wang T.-C.2019-05-212019-05-21200103681653https://scholars.lib.ntu.edu.tw/handle/123456789/409698A blending-PID controller uses the integral of error, e 1(t) = e(ζ)dζ, as the input signal to achieve zero error integral for a process operated a long enough period of time after the occurrence of a step disturbance. This article aims to derive a tuning guide for the blending-PID controllers based on the Internal Model Control (IMC) principle. Therein one tuning parameter is left for adjustment by assigning a specific value of the maximum closed-loop amplitude ratio. Several numerical examples are supplied, demonstrating the usefulness of the blending-PID controller and the proposed tuning guide.Amplitude ratioBlendingInternal model controlPID controllerTuningjournal article2-s2.0-0035520855https://www.scopus.com/inward/record.uri?eid=2-s2.0-0035520855&partnerID=40&md5=459e3b0b8e3be044a15344581ef8b967