Abstract
A performance assessment procedure and a controller design method based on modified relay feedback are proposed in this paper. The well-known robustness measurements gain and phase margins are used to assess the performance of the control system. The proposed scheme can online estimate the gain and phase margins by two successive relay tests to indicate the appropriateness of the controller parameters and to determine whether a retuning is necessary. A proportional−integral−derivative controller is tuned based on a least-squares fit of the actual to the desired closed-loop dynamic characteristic. Performance monitoring and controller design can be done simultaneously, which ensures a good performance of the control system. The illustrative simulation verifies the effectiveness of the presented algorithm.
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