Time domain identification for First-Order plus time-delay systems using frequency domain information

First-Order plus Time-Delay (FOPTD) models are extensively used to approximate systems in order to tune PID controllers. Several step and pulse response based identification and relay based identification techniques have been developed. A time domain technique using a set of frequency domain information is proposed in order to recover a model which matches the time response while capturing the system dynamics around frequencies of interest. Parameters bounds are used to robustify the estimates. Simulation and experimental results are presented to illustrate the technique.