Practical Evaluation of a Novel Multivariable Relay Autotuner with Short and Efficient Excitation
In this paper we propose an autotuning method that combines a setup for decentralized relay autotuning of two-input two-output systems with an identification method that uses short experiments to estimate up to second-ordertime-delayed systems. A small modification of the experiment gives better low-frequency excitation and improved models. The method is successfully demonstrated in simulations an