Relay Identification Using Shifting Method for PID Controller Tuning

The aim of this study was to present a relay shifting method for feedback identification dynamical systems suitable PID controller tuning. proposed technique uses biased determine frequency response points from single experiment without any assumptions about model transfer function. is applicable open-loop stable, unstable, and integration processes, even with delay, regardless whether they are oscillating or non-oscillating. core formed by the so-called filter. In study, applied parameter estimation second-order time-delayed (SOTD) that can describe, acceptable accuracy, dynamics most processes (even transport delay) near operating point. Simultaneously, setting derived based on parameters. applicability demonstrated various simulated tested real laboratory apparatuses.