Abstract
In this paper, the relay shifting method is extended to identification of systems with two inputs and two outputs (TITO systems) using relay feedback experiments. By means of this approach multiple points of the Nyquist frequency response can be determined from a single experiment. Identification of more frequency points facilitates parameter estimation of more complex models. The proposed procedure is intended for the identification of TITO systems with a sufficiently strong cross-coupling between inputs and outputs. Frequency domain transfer functions of the second order with a time delay are used for modelling individual links. The proposed procedure is intended for controller autotuning and can be extended for multivariable systems.
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