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Но на практике с ПИД регуляторами жизнь тоже не хорошая. Вот, например, интересная книга с 3 переизданиями. http://cyxtp.ucoz.ru/pdf/Aidan_O_Dwyer_Handbook_of_PI..

стр. 16.

PI or PID controller implementation has been recommended

for the control of processes of low to medium order, with small time delays,

when parameter setting must be done using tuning rules and when controller

synthesis is performed either once or more often

For example, Ender (1993) states that in his testing of thousands of control loops in hundreds of plants, it has been found that more than 30% of installed controllers are

operating in manual mode and 65% of loops operating in automatic mode produce less variance in manual than in automatic (i.e. the automatic controllers

are poorly tuned).

Т.е. 30% регуляторов просто отключают, а 65% процентров регуляторов делают ситуацию еще хуже, чем если бы они были отключены ☺

The situation does not appear to have improved more recently, as Van Overschee and De Moor (2000) report that 80% of PID controllers are badly tuned; 30% of PID controllers operate in manual with another 30% of the

controlled loops increasing the short term variability of the process to be controlled (typically due to too strong integral action).

Т.е. 80% настроено очень плохо (поскольку их настраивают по модели, а поведение объекта меняется постоянно), а 30% делают процесс более опасным.