5.1 Trial-and-Error Tuning5.2 Simple Process Identification Methods5.3 Ziegler–Nichols Tuning Rule5.4 Internal Model Control Tuning Rule5.5 Integral of the Time-Weighted Absolute Value of the Error Tuning Rule for a First-Order Plus Time-Delay Model (ITAE-1)5.6 Integral of the Time-Weighted Absolute Value of the Error Tuning Rule for a Second-Order Plus Time-Delay Model (ITAE-2)5.7 Optimal Gain Margin Tuning Rule for an Unstable Second-Order Plus Time-Delay Model (OGM-unstable)5.8 Model Reduction Method for Proportional–Integral–Derivative Controller Tuning5.9 Consideration of Modeling Errors5.10 Concluding RemarksReferencesBibliography