Tuning a PI controller can be quite cumbersome
for the non-expert as the closed-loop control system has to
meet various requirements while the influence and interaction
of the two degrees of freedom are not always clear. This paper
addresses the design of an iterative PI controller autotuning
for drive systems with the idea of imitating a human expert.
In contrast to existing concepts, a new approach with multiple
tuning strategies is applied which gives a compact rule base that
is easy to modify. The performance of the proposed algorithm
is illustrated through motion control testbench trials.