Application of Auto-Tuning to a Laboratory Model

The paper is focused on application of relay based auto-tuning combined with algebraic controller design to a laboratory heat exchange model. The principle used in this paper consists of two steps. First phase is an identification of the controlled system parameters. It is performed by the relay experiment with biased relay in the feedback loop and consecutive approximation by the first order transfer function with time delay. Second phase is a computation of the controller parameters through parameterized solution of Diophantine equations in the ring of proper and stable rational functions. Controller parameters are tuned through a pole placement problem as a desired multiple root of the characteristic closed loop equation. This approach enables tuning of the controller parameters by introducing a scalar parameter m>0 which can be adjusted by several principles.