PI Autotuners based on Biased Relay Identification
| Authors: | Prokop Roman, Tomas Bata University, Czech Republic
Korbel Jiri, Tomas Bata University, Czech Republic
Matusu Radek, Tomas Bata University, Czech Republic |
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| Topic: | 2.1 Control Design |
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| Session: | Control Design I |
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| Keywords: | Autotuners, Feedback control, First-order systems, PI controllers, Polynomial methods, Relays |
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Abstract
The paper describes an automatic tuning procedure for a wide class of continous-time systems without and with time delays. Every auto-tuning method has two basic steps. The first one is experimental and yields an estimated model. The second step consists in a design procedure of controllers. The developed auto-tuning procedure identifies a first order estimation model obtained by a biased relay feedback test. The consecutive design is based on a general solution of diophantine equations and results in a PI-like controller. Moreover, the diophantine equation approach gives a scalar tuning parameter which is adjusted according to the equalization of weighted moments.
