PID control is an important ingredient of a distributed control system. The controllers are also embedded in many special purpose control systems. PID control is often combined with logic, sequential functions, selectors, and simple function blocks to build the complicated automation systems used for energy production, transportation, and manufacturing. Many sophisticated control strategies, such as model predictive control, are also organized hierarchically. PID control is used at the lowest level; the multivariable controller gives the set points to the controllers at the lower level. The PID controller can thus be said to be the “bread and butter’ of control engineering. It is an important component in every control engineer’s tool box. PID controllers have survived many changes in technology, from mechanics and pneumatics to microprocessors via electronic tubes, transistors, integrated circuits. The microprocessor has had a dramatic influence on the PID controller