For most simple processes, PID control can provide satisfactory closed loop performance. However, in spite of the considerable advantages of conventional PID controllers (such as simplicity of their structures, robustness and ease of implementation), they still have a major drawback in that the controllers may need to be re-tuned, if the systems to be controlled are subjected to significant changes, in order to achieve satisfactory performance. For this reason, during the last two decades much work in linear control theory has been devoted to incorporating the flexibility of self-tuning control and the simplicity of PID structures. A lot of self-tuning methods have been developed and special attention is currently being paid to PID self-tuning controllers and their implementation, [e.g. Yusof R. & et al., (1994); Yusof, R.; (1993) and Tokuda M.; & Yamamoto T.; (2002)]. During the past three decades, a special attention has also been given to the problem of designing pole-placement controllers and self-tuning regulators. Various self-tuning controllers based on classical pole-placement ideas were developed and employed in real applications, [e.g. Sirisena H. & Teng F.,(1986); Zhu Q., & et al., (2002); Zayed A. & Hussain A., (2004); Astrom K.., & Wittenmark B., (1973)]. The popularity of pole-placement techniques may be attributed to the fact that in the regulator case they provide mechanisms to over-come the restriction to minimum-phase plants of the original minimum variance self-tuner of Astrom K., & Wittenmark B., (1973). In the servo case, they provide the ability to directly introduce bandwidth and damping ratio as tuning parameters. In addition, there is some improvement in robustness of pole-placement methods, as they simply modify the system dynamics as opposed to cancelling them as per the early optimal self-tuning controllers. Furthermore, unlike many of the self-tuning based PID control designs [see for example Yusof R. & et al., (1994); Yusof, R.; (1993)], in which the tuning parameters must be selected using a trial and error procedure, the tuning parameters for pole-placement controllers can be automatically set on-line by specifying the desired closed loop poles. Comparatively, only little attention has been given to zeros since they are considered to be less crucial than poles. Most of the previous discussion on zeros are centred around the choice of the sampling time so that the resulting system is invertible. However, it is important to note that zeros may be used to achieve better set point tracking Zayed A. & Hussain A., (2004)., and they may also help reduce the magnitude of the control action Sirisena H. & Teng F.,(1986).. 8
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