Modeling methods@ implementation details@ and problem-solving techniques are presented to help you improve loop performance and product quality. The book examines the auto-tuning and adaptation features of several commercial controllers@ including digital PID controllers@ and it discusses measures for dealing with specific challenges such as reset windup@ long process dead times@ and oscillatory systems. Design methods and tuning rules that consider factors such as load disturbances@ measurement noise@ model uncertainty@ and set point response are also recommended.