Asymmetric relay autotuning - Practical features for industrial use

Research output: Contribution to journalArticle


The relay autotuner provides a simple way of finding PID controller parameters. Even though relay autotuning is much investigated in the literature, the practical aspects are not that well-documented. In this paper an asymmetric relay autotuner with features such as a startup procedure and adaptive relay amplitudes is proposed. Parameter choices and handling of noise, disturbances, start in non-steady state and other possible error sources are discussed. The autotuner is implemented and tested in an industrial air handling unit to show its use in practice. The experiments show good results, and prove that the proposed simple autotuner is well-suited for industrial use. But the experiments also enlighten possible error sources and remaining problems.


Research areas and keywords

Subject classification (UKÄ) – MANDATORY

  • Control Engineering


  • Asymmetric relay autotuning, PID control, Practical features, Industrial experiment, Air handling unit
Original languageEnglish
Pages (from-to)231-245
Number of pages15
JournalControl Engineering Practice
Publication statusPublished - 2016 Sep
Publication categoryResearch

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