The Dahlin algorithm may provide very good control performance for the process, but its control performance may become very poor if the model parameters are not accurate and/or the input is constrained. However, the adjustment process of the PID controllers’ parameters is not an easy job in practice, and the control performance may also be not perfect. Usually, a set of Proportion Integration Differentiation (PID) controllers may be used to control the process, and the controllers have different parameters in different operating areas.
There is a class of typical nonlinear industrial process, which can be characterized by a first-order inertia plus pure delay model in an operating range, but the model parameters are different in different operating ranges.
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