Abstract

The paper presents a method for the auto-calibration of PI and PID controllers when one point of the frequency characteristics (gain and phase) of the controlled plant is identified (for example using a closed loop relay experiment). The tuning rules are inspired from the "Symmetrische Optimum" (the symmetrical optimum) principles introduced by Kessler [1958]. They have the advantage to take in account both robustness aspects (phase margin, gain margin, neglected dynamics) and desired closed loop characteristics. Comparisons with the Ziegler-Nichols tuning rules are provided (theoretically and experimentally). Simulations on various examples and experiments on an air heater conclude the paper.

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