We apply the Iterative Feedback Tuning (IFT) method to the tuning of PID parameters in applications where the objective is to achieve a fast response to set point changes. We compare the performance of these IFT-tuned PID controllers with the performance achieved by four classical PID tuning schemes that are widely used in industry. Our simulations show that IFT always achieves a performance that is at least as good as that of the classical PID tuning schemes, and often dramatically better: faster settling time and less overshoot. In addition, IFT is also optimal with respect to the presence of noise, whereas the other schemes are designed for noise-free conditions. The IFT method used here is a variant of the initial IFT scheme, in which no weighting is applied to the control error during a time window that corresponds to the transient response, and where the lenght of this window is progressively reduced. This method was initially proposed in (Lequin, 1997), and elaborated on in (Lequin et al., 1999).

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