On PID controller tuning using orthonormal series identification (Q1100169)

The step response of a closed loop system is identified by means of a Laguerre expansion. This offers certain advantages over ARMA models, namely lack of bias in the estimates, structural flexibility and the ability to precompute the regressors. The Laguerre coefficients of the retuned system are calculated in terms of the tuning constants, and a quadratic performance index is optimized. Results from simulations and from industrial trials are given.