The PID controller is the most common controller in control systems. For example, in the mid
1990’s the PID controller was used in over 95 % of the control loops in process control [102]. The
best features of the controller can only be achieved if the controller is well tuned. The tuning of
PID controllers has been discussed in numerous papers and books, but seldom for systems with
varying time-delays or for NCS. Some results exist, though, and [37] discusses the tuning of a
continuous-time PID controller in state-dependent delay systems, whereas the discrete-time PID
controller tuning is addressed in [70]. In [P2] and [P4], discrete-time PID controller tuning
methods are presented that optimize the closed-loop performance and improve robustness in
varying time-delay systems. [P6] and [P7] discuss the tuning of the PID controller for stable systems
with varying time-delays and novel tuning rules are proposed. [P5] considers the tuning of a
continuous-time PID controller in integrating processes with varying time-delays, whereas among
other things, [P8] discusses the performance of time and event-driven PID controllers in the NCS
framework. In addition, a PID controller tuning tool for NCS with varying time-delays is presented
in [P1]. The literature on PID tuning for NCS
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