Abstract
An industrial loop tuner that uses conventional and modified relay feedback tests is presented in the paper. The modified relay feedback test is designed the way, so that the ultimate frequency in the test coincides with the phase cross-over frequency in the open-loop system having a PID controller. This allows for simple non-parametric tuning rules for PID controllers that provide the desired gain margin exactly. Robustness of non-parametric tuning is analyzed. Simulations are provided. Industrial loop tuner CLTUNE is described.
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