A Comparative Study of Three Relay-based PID Auto-Tuners

R. De Keyser and C. Ionescu (Belgium)


auto-tuning, relay tuner, PID control, phase margin, frequency response


The paper presents a comparative study of three autotuning methods for PID controllers: the widely used Åström-Hägglund relay-feedback tuner and two original extensions which are based on phase margin specifications: i) a relay based method, referred to as the Kaiser-Chiara auto-tuner; and ii) a relay+delay based method, referred to as the Kaiser-Rajka auto-tuner. The three autotuners are evaluated on four typical examples, which are relevant for control engineers. Additionally, the controller performance is compared to the performance of a nearly optimal PID controller, which is designed via computer aided design software using full knowledge of the process model.

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