Autotuning of PI+p controllers

This manuscript is part of a long-term research, the aim of which is to establish methodologically grounded relationships between model- and relay-based tuning of industrial regulators, and to derive from those relationships some regulator synthesis procedures that couple the advantages of model-based methods to the simplicity and clarity of relay experiments. In this particular work, the addressed controller structure is the ldquoPI+prdquo, i.e., a PI controller augmented with an additional, stable pole. The advantages of using the combined model-relay-based approach on that structure are evidenced, and some simulation results are reported to back up the statement.