Improved Relay Autotuning using Normalized Time Delay

Research output: Chapter in Book/Report/Conference proceedingPaper in conference proceedingpeer-review

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291 Downloads (Pure)


The relay autotuner provides a simple way of
finding PID controllers of sufficient performance. By using
an asymmetric relay function the excitation of the process is
improved. This gives better models, and hence a better tuning,
without increasing the time consumption or complexity of the
experiment. Some processes demand more accurate modeling
and tuning to obtain controllers of sufficient performance.
These processes can be singled out by their normalized time
delays and be subject to further modeling efforts. The autotuner
proposed in this paper provides a simple way of finding
the normalized time delay from the experiment, and uses it
for model and controller selection. The autotuner has been
implemented and evaluated both in a simulation environment
and by industrial experiments.
Original languageEnglish
Title of host publicationAmerican Control Conference (ACC), 2016
Number of pages7
Publication statusPublished - 2016
EventAmerican Control Conference, 2016 - Boston, United States
Duration: 2016 Jul 62016 Jul 8


ConferenceAmerican Control Conference, 2016
Abbreviated titleACC 2016
Country/TerritoryUnited States

Subject classification (UKÄ)

  • Control Engineering


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