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Can someone point me towards a good book or survey article on adaptive/self-tuning of PI controllers?

All I can find online are articles which are either vague or heavy on theory.

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This is definitively not a satisfying answer, but what you call "adaptive" in combination with a pi-controller is commonly called gain-scheduling or lpv-gain-scheduling (lpv = linear parameter varying). Maybe that helps you find a book.

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    $\begingroup$ +1 -- half the work in searching for information is figuring out what terms to use $\endgroup$ – Jason S Apr 25 '12 at 18:40
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Typically Self tuning controllers are done in the digital domain. You may want to look into Least Squares Method for controller tuning.

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