AUTO-TUNING CONTROL OF REAL TIME MODEL

This contribution deals with an application of relay based auto-tuning combined with algebraic controller design to a laboratory heat exchange model. First phase is an identification of the controlled system parameters. It is per-firmed by the relay experiment with biased relay in the feedback loop. 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.