Towards a New Generation of Relay Autotuners

Research output: Chapter in Book/Report/Conference proceedingPaper in conference proceeding


The relay autotuner for PID control is based on the simple idea of investigating process dynamics by the oscillation obtained when the PID controller is replaced by a relay unction. In this paper an asymmetric relay function is used, which provides an equation for the static gain of the process. A method to find the normalized time delay is proposed and the benefits of this is discussed. Ways to find low-order models from the experiment are described. Considerations of how to choose the relay parameters are made and some examples are given.


Research areas and keywords

Subject classification (UKÄ) – MANDATORY

  • Control Engineering


  • normalized time delay, autotuning, asymmetric relay, parameter estimation.
Original languageEnglish
Title of host publication19th IFAC World Congress, 2014
Publication statusPublished - 2014
Publication categoryResearch
Event19th IFAC World Congress, 2014 - Cape Town, South Africa
Duration: 2014 Aug 242014 Aug 29
Conference number: 19


Conference19th IFAC World Congress, 2014
CountrySouth Africa
CityCape Town

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Related projects

Josefin Berner, Kristian Soltesz, Tore Hägglund & Karl Johan Åström


Project: Research

Anders Robertsson, ALFRED THEORIN, Bo Bernhardsson, Josefin Berner, Karl Johan Åström, Martin Hast, Olof Garpinger, Per-Ola Larsson, Tore Hägglund, Vanessa Romero Segovia & Kristian Soltesz


Project: Research

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Related activities

Josefin Berner (Speaker)
2014 Aug 242014 Aug 29

Activity: Talk or presentationPresentation

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