Abstract

In this work it is presented a PI controller loop-shaping redesign technique. The existing closed-loop is excited using a relay experiment which allows one to estimate the current phase-margin, the crossover frequency and a first-order plus time-delay model. Techniques for continuous-time identification are examined. Based on the information obtained from the experiment, a desired loop transfer function is defined. The controller is obtained using least squares model-matching. Constrained optimization is used in the estimation. Simulation examples illustrate the technique.

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