Improved relay feedback method under noisy and disturbance environments

This paper presents a new relay feedback method to guarantee the accuracy of the enhanced relay feedback method. The new method uses the integrals of a process input and output to tune Proportional-Integral-Derivative (PID) controllers automatically even if the process input and output are contaminated by measurement noises and disturbances. This feedback method uses a new disturbance estimator and a new noise magnitude estimator to remove the effects of noises and disturbances on estimates of frequency response data. Simulation and application to a real system to control liquid level demonstrate that the proposed methods provide fairly accurate ultimate data of the process and that the PID controller tuned by the proposed method achieves control faster and with less overshoot than the conventional autotuning strategy based on the conventional relay feedback method.