Auto-tuning of phase lead/lag compensators. (Q1428130)

The auto-tuning of phase lead and lag compensators is solved by using the identification of frequency response points, specified by gain or phase, of the uncompensated plant. The identification is based on a hysteresis relay (included in closed loop) and on-line algorithms for adjusting the relay amplitude or hysteresis width, which iterate on the amplitude (hysteresis width) until the gain (phase) specifications are satisfied. The auto-tuning procedure using these algorithms is also demonstrated and finally illustrated by appropriate simulations.