Abstract
In this paper a novel idea of inserting a differentiator in front of the relay is presented. This technique is applicable to a process with integration. The advantage is that the time taken for the relay experiment can be shortened by as much as 100%. A special case of an asymmetrical relay — relay with DC bias — is also analysed. This paper shows that a common process model used in the industry — the first-order plus dead-time process model—can be obtained from the oscillation produced by the relay with DC bias. Once a process model is obtained, many controller design techniques are available. The techniques described in this paper were successfully implemented in a laboratory experiment on a tank level system.
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