A new method for on-line controller tuning

A new method for tuning controllers on-line has been developed based on a single experimental test, a step change in controller set point. The set-point response data and analytical formulae are used to calculate model parameters for a first-order plus time delay transfer function. Controller settings can then be calculated using the model parameters and standard controller tuning relations. Simulation results demonstrate that the new method provides good initial values for PID controller settings despite gross modeling errors and unanticipated load disturbances that may occur during the experimental test.