Autotune Identification via the Locus of a Perturbed Relay System Approach

A methodology of the first-order plus dead time process transfer function identification based on the measurement of the locus of a perturbed relay system from a single relay feedback test is proposed. Simple analytical formulas and rules that do not require iterative calculations and are suitable for the use within distributed control systems or stand-alone proportional-integral-differential controllers are obtained for this process model.