Abstract
This paper presents a technique to identify integrating processes based on time domain analysis of the relay response curve. Explicit analytical expressions are provided for first- and second-order integrating process models in terms of a few critical point data. Models with up to three parameters are estimated by means of a single symmetrical relay experiment without solving any nonlinear equations. The procedure requires less time for the autotuning test as it uses only half-output limit cycle data. Simulation examples illustrate the simplicity of the presented method.
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