THE AUTOCALIBRATION OF PI-CONTROLLERS BASED ON 2 FREQUENCY MEASUREMENTS

A generalization of the previously presented KLV method for the autoca libration of PI controllers (based on one frequency experiment) is rea lized so as to extend its validity domain. The underlying process mode ls and PI designs are given. The new autocalibration procedure include s two frequency experiments on the plant (closed-loop relay experiment s) to extract the process dynamics. Comparisons with other tuning meth ods are presented, Simulations and experiments on a real plant illustr ate the feasibility of the proposed approach.