An improved algorithm for automatic tuning of PID controllers

For the automatic tuning of PID controllers, a new identification algorithm is proposed to identify frequency data sets of the process. It guarantees better accuracy and can provide much more frequency data sets of the process than the previous describing function analysis algorithms. The identification method provides exact data sets for all desired frequencies and it also gives the exact data set corresponding to the relay frequency even in the presence of a static disturbance. (C) 2000 Elsevier Science Ltd. All rights reserved.