Controller Evaluation and Redesign using Relay Experiments

Authors:	Berger Marcus A. R., Universidade Federal de Campina Grande, Brazil Barros Péricles R., Universidade Federal de Campina Grande, Brazil
Topic:	2.1 Control Design
Session:	Frequency Domain Design
Keywords:	PID controller, controller tuning, relay systems, symmetrical optimum design.

Abstract

In this paper it is presented a procedure for closed loopcontroller redesign using a relay based experiment. The presentclosed loop is evaluated in relation to a symmetrical optimumdesign. The loop gain is estimated at a few frequency points usingan excitation derived from a relay experiment. The controller isredesigned to yield some stability margin using a controllerprocedure derived from the symmetrical optimum. Simulationexamples illustrate the properties of the design scheme.