AUTO-TUNING: FROM ZIEGLER-NICHOLS TO MODEL BASED RULES

Michael G. Ott and Willy K. Wojsznis Fisher-Rosemount Systems, Inc. 1 1! "entre "ree# $ri%e &ustin, 'e(as ) *+

KEYWORDS
,rocess "ontrol, "ontrol -oo. 'unin/, 0ie/ler-1ichols 'unin/, Model 2ased 'unin/, ,I$

ABSTRACT
&utomatic control loo. tunin/ usin/ the relay oscillation tunin/ method has 3een used to identi4y the .rocess .arameters o4 ultimate /ain and ultimate .eriod. 0ie/ler-1ichols or modi4ied 0ie/ler-1ichols tunin/ rules may 3e used to determine ,I$ loo. settin/s. 'he same relay oscillation techni5ue has 3een enhanced to identi4y a 4irst-order .lus deadtime model 4or sel4-re/ulatin/ .rocesses and an inte/ratin/ .rocess model 4or inte/ratin/ .rocesses. Model 3ased tunin/ rules, such as Internal Model "ontrol or -am3da tunin/ rules, may 3e used to determine tunin/ .arameters 4or %arious 4eed3ac# controllers.

INTRODUCTION
$eterminin/ the tunin/ .arameters o4 a ,I$ controller 3ased on ultimate /ain and ultimate .eriod is #no6n as 0ie/ler-1ichols 4re5uency res.onse tunin/ 718, 7!8. 'he techni5ue, de%elo.ed more than *9 years a/o, has 3een used e(tensi%ely to tune loo.s in the .rocess industries. 'he ori/inal 0ie/ler1ichols tunin/ rules 6ere desi/ned to .ro%ide a 5uarter am.litude dam.ed res.onse to a load distur3ance. Once considered ideal, the underdam.ed and oscillatory nature o4 0ie/ler-1ichols tunin/ has 3een criticized 4or desta3ilizin/ control loo.s, i.e. increasin/ %aria3ility instead o4 reducin/ it 7:8. &n im.ro%ement in .er4ormance is achie%ed 3y modi4yin/ the tunin/ rules in such a 6ay to /et a desired .hase or am.litude mar/in in the loo. 7+8. Modi4ied 0ie/ler-1ichols tunin/ rules are more conser%ati%e than the ori/inal rules, reducin/ the o%ershoot and oscillation 4ollo6in/ a set.oint chan/e or load distur3ance. Once the ultimate /ain and ultimate .eriod o4 a loo. are #no6n, .u3lished tunin/ rules can 3e used to /et initial controller settin/s. 'he 0ie/ler-1ichols 4re5uency res.onse tunin/ method 6as ori/inally a closed-loo. tunin/ techni5ue that 6as .er4ormed manually. 'he /ain o4 a .ro.ortional-only controller 6ould 3e /radually increased until the loo. oscillated at a sustained .eriod. 'his ultimate .eriod, alon/ 6ith the controller /ain ;ultimate /ain<, 6ould 3e used to calculate the ,, I, and $ settin/s. =o6e%er, there are some o3%ious

dra63ac#s to this techni5ue> /ettin/ the loo. to cycle continuously is a time-consumin/ .rocess and there is a ris# that the oscillations 6ill /ro6 3eyond sta3ility. 'here is no 6ay to s.eci4y the ma/nitude o4 oscillations. 'he a..roach 3ecame si/ni4icantly more attracti%e a4ter introducin/ relay oscillation auto-tunin/, as descri3ed in 7+8 and 7*8. &n e(am.le o4 the im.lementation o4 this a..roach in a $istri3uted "ontrol System ;$"S< is /i%en in 7 8 and 7)8. 'he relay oscillation tunin/ method identi4ies the ultimate /ain and ultimate .eriod, so that controller settin/s may 3e determined 4rom these .arameters. Relay oscillation is an on-demand automatic tunin/ techni5ue. &uto-tunin/ can 3e cate/orized as tunin/ ondemand or continuous ada.ti%e tunin/. On-demand tunin/ must 3e initiated 3y a human. "ontinuous ada.ti%e tunin/ is .er4ormed automatically 4ollo6in/ set.oint chan/es, si/ni4icant distur3ances, or 4rom lo6 le%el injected e(citation si/nals. Most loo.s need only tunin/ on demand u.on commissionin/ or .erha.s schedulin/ o4 tunin/ .arameters to deal 6ith .rocess nonlinearities. In recent years si/ni4icant .ro/ress has 3een made 6ith model 3ased tunin/, in .articular 6ith Internal Model "ontrol ;IM"< and -am3da tunin/ 7?8, 7198. 2oth a..roaches result in a 4irst-order closed loo. res.onse to set.oint chan/es. & tunin/ .arameter relatin/ to the s.eed o4 res.onse is used to %ary the tradeo44 3et6een .er4ormance and ro3ustness. 2oth methods adjust the ,I$ controller reset ;or reset and rate< to cancel the .rocess .ole;s< and adjust the controller /ain to achie%e the desired closed loo. res.onse. IM" and -am3da tunin/ ha%e 3ecome .o.ular 3ecause oscillation and o%ershoot are a%oided and control .er4ormance can 3e s.eci4ied in an intuiti%e 6ay throu/h the closed loo. time constant. One o4 the limitations o4 model 3ased tunin/ is .rocess model identi4ication. &n e5ui%alent 4irst-order .lus deadtime .rocess model 6ith .arameters o4 static /ain, a..arent deadtime, and a..arent time constant is usually identi4ied 4or sel4-re/ulatin/ .rocesses. For inte/ratin/ .rocesses, model .arameters o4 .rocess /ain and deadtime are determined. Model identi4ication is ty.ically made 3y an o.en loo. ste. test. "om.ared to the relay oscillation method o.en loo. methods are not easy to automate. With o.en loo. methods, human inter%ention is o4ten re5uired to assure an accurate model due to nonlinearities in the .rocess, %al%e hysteresis, and load distur3ances. & di44erent techni5ue is re5uired 4or sel4-re/ulatin/ and inte/ratin/ .rocesses. 'his .a.er descri3es the relay oscillation tunin/ method and an enhancement to it that identi4ies a sel4re/ulatin/ and an inte/ratin/ .rocess model in addition to ultimate /ain and ultimate .eriod. 'his enhancement may 3e achie%ed 6ithout additional mani.ulation o4 the .rocess in.ut. One automated .rocedure lets the user choose amon/ many di44erent tunin/ rules. For e(am.le, modi4ied 0ie/ler1ichols rules mi/ht 3e chosen i4 the .rocess deadtime is small in com.arison to time constant and 4ast set.oint trac#in/, and distur3ance rejection is re5uired. On the other hand, IM" or -am3da tunin/ rules mi/ht 3e used i4 the .rocess deadtime is moderate com.ared to time constant or minimum %ariance control is desired. For control o4 inte/ratin/ .rocesses, li#e li5uid le%el control, modi4ied 0ie/ler1ichols rules result in ti/ht re/ulation, 6hile -am3da tunin/ rules ma#e a%era/in/ control .ossi3le. When there is mild to moderate interaction 3et6een loo.s, choosin/ the a..ro.riate closed loo. time constants 6ith -am3da tunin/ can minimize the im.act o4 the interactions. Interactin/ loo.s may also 3e tuned 3y relay oscillation 71:8, 71+8 3ut a se5uential or iterati%e .rocedure is re5uired. 'he enhanced relay oscillation tunin/ method also o44ers the ca.a3ility to auto-tune the t6o-de/ree-o4-4reedom ,I$ controller 71*8, the deadtime com.ensatin/ ,I$ controller ;Smith ,redictor< and the SISO 4uzzy lo/ic controller descri3ed in 71@8, 71 8.

Relay

Tuning Rules SP PV

Gc(s) Controller

Gp(s) Process

Fi/ure 1. Relay Oscillation ,rinci.le

RELAY OSCILLATION TUNING

$urin/ the tunin/ .rocess the controller is re.laced 3y the relay as sho6n in Fi/. 1. With the loo. at steady state, an initial ste. chan/e is made to the .rocess in.ut. 'he am.litude o4 the ste. chan/e is set to control the am.litude o4 oscillations in the .rocess out.ut. 'he a3ility to control the am.litude o4 .rocess oscillation is a si/ni4icant ad%anta/e o%er the closed loo. techni5ue to identi4y ultimate /ain and ultimate .eriod. Fi/. ! sho6s a trend .lot o4 the relay out.ut and .rocess out.ut 4or a ty.ical tunin/ se5uence. &4ter the initial ste. chan/e in relay out.ut, the .rocess out.ut 3e/ins to chan/e a4ter an inter%al o4 deadtime. &4ter the 4irst relay ste., the loo. is o.en until the .rocess out.ut mo%es 3y a .rede4ined amount. &t that .oint the relay is ste..ed in the o..osite direction as sho6n. 'he .rocess out.ut 3e/ins to mo%e in the o..osite direction a4ter the deadtime inter%al. 'he loo. is no6 under t6o-state control. Aach time the .rocess out.ut crosses the set.oint or initial %alue, the relay is s6itchedB this continues 4or one or more .eriods. When acti%e tunin/ is com.lete, control o4 the loo. is returned to the controller 6ith its ori/inal mode, set.oint, and out.ut restored. Relay action causes the loo. to oscillate at its ultimate .eriod, 'u. Re4errin/ to Fi/. ! the ultimate /ain, K u , is the ratio o4 relay am.litude to am.litude o4 .rocess oscillations or, more accurately,
Ku = +d a

Relay hysteresis is used durin/ initialization as descri3ed, 3ut may also 3e used to .re%ent relay s6itchin/ due to noise. Csin/ hysteresis to delay relay s6itchin/ a4ter the .rocess out.ut crosses the set.oint is e44ecti%e 4or noise .rotection, 3ut it im.acts the accuracy o4 the ultimate .eriod and ultimate /ain identi4ication. 'he .re4erred method o4 noise .rotection is to disa3le relay s6itchin/ 4or a short time 4ollo6in/ a chan/e in relay out.ut. $isa3lin/ relay s6itchin/ 4or *9D o4 the .rocess deadtime has .ro%en to 3e an e44ecti%e method o4 noise .rotection 6ithout ad%ersely a44ectin/ the ultimate /ain and ultimate .eriod identi4ication.

Relay Output

Process Output - PV SP t1 t! a

Initialization

Tuning Tu

....

Fi/ure !. 'rend .lots o4 relay out.ut and .rocess out.ut durin/ acti%e tunin/ It is im.ortant to identi4y the .rocess deadtime 4or noise .rotection and as one o4 the .rocess model .arameters. &..arent deadtime is identi4ied 3y calculatin/ a tan/ent 4rom the .oint o4 ma(imum slo.e o4 the .rocess out.ut durin/ initialization. 'he tan/ent is e(tra.olated to interce.t the set.oint or initial %alue line o4 the .rocess out.ut. 'he time 3et6een the initial relay ste. and this interce.t is the a..arent deadtime. &nother method may 3e used to determine deadtime> the time 3et6een the 4irst s6itchin/ o4 the relay in the o..osite direction, t1 in Fi/. !, and the time at 6hich the .rocess out.ut reaches the ma(imum, t!, is the deadtime in a 4irst order .lus deadtime model. 'he a..arent deadtime may 3e calculated as the a%era/e o4 the t6o results.

MODEL IDENTIFICATION
One o4 the ad%anta/es o4 relay oscillation tunin/ is that it is a..lica3le to 3oth sel4-re/ulatin/ and inte/ratin/ .rocesses. =a%in/ determined the a..arent deadtime, an inte/ratin/ .rocess model has already 3een identi4ied since the ma(imum slo.e o4 the .rocess out.ut durin/ initialization is #no6n. 'his slo.e is the /ain 4or an inte/ratin/ .rocess. Re/ardless o4 6hether the .rocess is inte/ratin/ or sel4re/ulatin/, the auto-tuner 6ill sa%e the inte/ratin/ /ain %alue alon/ 6ith the a..arent deadtime. Kno6in/ the deadtime, ultimate /ain, and ultimate .eriod it is .ossi3le to calculate a 4irst-order .lus deadtime .rocess model as detailed in 7118. 'he 4ollo6in/ e5uations are deri%ed 4rom the 4irst-order .rocess model trans4ormed into the 4re5uency domain in the e(.onential 4orm>

Tc = Ks =
Where

Tu ! Td tan; < ! Tu + ! Tc ! 1 1+ Ku Tu !

;1< ; !<

'c E .rocess time constant 'u E ultimate .eriod 'd E .rocess a..arent deadtime Ks E .rocess static /ain Ku E ultimate /ain 'he .rocess time constant in e5uation ;1< is e(.ressed 3y a tan/ent 4unction 6hich /i%es a /ood a..ro(imation 6hen the deadtime is relati%ely lon/ in relation to the time constant. For .rocesses 6ith insi/ni4icant deadtime a lar/e error results in the time constant com.utation, e%en 4or a small error in deadtime identi4ication. & heuristic a..roach to re.lace e5uation ;1< has 3een de%elo.ed 7118 and im.lemented in a $"S 7)8. It is 3ased on #no6in/ the ratio o4 ultimate .eriod and deadtime, 6hich is a..ro(imately e5ual to t6o 4or deadtime dominant .rocesses and close to 4our 4or .rocesses that are la/ dominant. Csin/ this a..roach allo6s the time constant and static /ain to 3e identi4ied 6ithin an accuracy o4 19-!9 .ercent 6ithout ha%in/ to modi4y the relay oscillation tunin/ .rocedure. 'he accuracy o4 model identi4ication 4or a sel4-re/ulatin/ .rocess may 3e im.ro%ed some6hat 3y identi4yin/ the .rocess static /ain throu/h a closed loo. ste. test. Follo6in/ relay oscillation a small set.oint chan/e may 3e made 6ith the controller in automatic mode. 'he static /ain is calculated as the ratio o4 .ercent chan/e in set.oint and .ercent chan/e in controller out.ut 3et6een steady states. Kno6in/ the static /ain, ultimate /ain, and ultimate .eriod, the .rocess deadtime and time constant may 3e calculated 4rom the 4ollo6in/ e5uations 7118, 71!8>
Tu ; Ks Ku <! 1 ! T !Tc Td = u ; tan 1 < ! Tu Tc = ;:< ;+<

'a3le 1 demonstrates the accuracy o4 usin/ e5uations ;:< and ;+<. 'he ultimate /ain and ultimate .eriod 6ere determined 4or se%eral 4irst-order .lus deadtime .rocess models usin/ relay oscillation. 'he time constant and deadtime 6ere calculated usin/ e5uations ;:< and ;+< and the actual static /ain. 'he di44erence 3et6een actual and calculated time constant and deadtime a%era/ed less than 4i%e .ercent. I4 the static /ain is identi4ied 6ith a 4i%e .ercent error in accuracy, the calculated time constant 6ould 3e in error 3y as much as 19 .ercent.

Ks actual Tc actual Td actual Ku Tu Tc calc Td calc 1.9 199 1! 1:.@ +).9 19+.! 1!.* 1.9 !* : 1:.@+ 1!.9 !@.9 :.1 1.9 *9 1! .*1 ++.9 *!.1 11.9 1.9 1!.* : .:@ 11.! 1:.9 :.9 1.9 @@.@ 1! ?.* +@.9 @?.! 1!.: 1.9 1@.@ : ?. 11.! 1 .: :.9 1.9 !99 1! !@.9! *9.9 !9 .9 1!.) 1.9 *9 : ! .9@ 1!.9 *1. :.1 1.9 1* ! 1!.:! ).9 1*.@+ !.1 !.9 1* ! @.1* ).9 1*.@1 !.1 9.* 1* ! !+.@) ).9 1*.@ !.1 'a3le 1. "om.arison o4 actual and calculated .rocess model 4rom static /ain, ultimate /ain and .eriod C.on com.letion o4 acti%e tunin/, the auto-tuner has identi4ied the ultimate /ain, ultimate .eriod, deadtime, time constant, static /ain and inte/ratin/ /ain 4or the .rocess. 'he user may in.ut the ty.e o4 .rocess, sel4-re/ulatin/ or inte/ratin/, the ty.e o4 tunin/ rules to use, and .erha.s an additional tunin/ 4actor such as the closed loo. time constant. 'he tunin/ rules are then a..lied and the initial settin/s are 6ritten to the controller.

BEYOND ZIEGLER-NICHOLS TUNING RULES

Modi4ied 0ie/ler-1ichols tunin/ rules are 3ased on ultimate /ain and ultimate .eriod. &n e(tension o4 these rules has 3een de%elo.ed 3y &strom and =a//lund 71*8 6hich utilizes an additional .rocess .arameter, the static /ain, and results in a si/ni4icant im.ro%ement o%er 0ie/ler-1ichols rules. 'hese e(tended tunin/ rules, or sim.le tunin/ rules as they are called, also determine the set.oint 6ei/htin/ 4actor 4or the t6o-de/ree-o4-4reedom ,I$ controller. -oo.s tuned 4or /ood load distur3ance attenuation are /enerally underdam.ed 4or set.oint chan/e res.onse and can 3ene4it 4rom set.oint 6ei/htin/. &strom and =a//lund de%elo.ed the e(tended tunin/ rules 3y tunin/ an IS& standard controller 4or a num3er o4 di44erent .rocess models usin/ the dominant .ole desi/n and relatin/ the settin/s as a 4unction o4 ultimate /ain, ultimate .eriod and normalized .rocess /ain, .
=
1 6here Ku Ks

Ks is .rocess static /ain Ku is ultimate /ain

When normalized /ain is #no6n,

K Ti T , , and d are de4ined as a 4unction o4 . Ku Tu Tu

,I "ontrol>
K = fk ; < = 9.9*: e(.;!.? !.@ ! <, Ku K = fk ; < = 9.1: e(.;1.? 1.: ! <, Ku Ti = fti ; < = 9.?9 e(.; +.+ + !. ! < Tu Ms is the desi/n .arameter - sensiti%ity i4 Ms = 1.+

i4 Ms = !.9

'he desi/n also .ro%ides the o.timal %alue 4or the set.oint 6ei/htin/ 4actor
= f ;< = 11 . e(.; 9.99@1 +1.)! <, i4 Ms = 1.+ = f ;< = 9.+) e(.; 9.+ 9.1 ! <, i4 Ms = !.9

,I$ "ontrol>

K = fk ; < = 9.:: e(.; 9.:1 1.9 ! <, Ku K = fk ; < = 9. ! e(.; 1.@ +1.! ! <, Ku

i4 Ms = 1.+ i4 Ms = !.9

Ti = fti ; < = 9.@ e(.; 1.+ + 9.99) ! < Tu Td = ftd ; < = 9.1@ e(.; 1.! 9.:! ! < Tu

= f ; < = 9.*) e(.; 1.: + :.* ! <, i4 Ms = 1.+ = f ; < = 9.!* e(.;9.*@ 9.1! ! <, i4 Ms = !.9

MODEL BASED TUNING

IM" tunin/ rules 4or sel4-re/ulatin/ .rocesses use the three model .arameters 4or a 4irst order .lus deadtime model and a user-de4ined 4ilter time constant to determine ,I$ controller settin/s. 'he 4ilter time constant should 3e set to the desired closed loo. time constant. & lar/er %alue o4 4ilter time constant /i%es more dam.ed tunin/. -am3da tunin/ rules use a .arameter, , 6hich is also the desired closed loo. time constant 4or a sel4-re/ulatin/ .rocess. 'he closed loo. time constant is usually chosen to 3e lon/er than the o.en loo. time constant, .erha.s as much as three times lon/er. 'his is to ensure ro3ustness in the e%ent o4 inaccuracy in model identi4ication and chan/in/ .rocess conditions. ,rocess analysis tools ha%e 3een used to assist in choosin/ the closed loo. time constant to achie%e minimum %ariance control 7198. 'he closed loo. time constant may 3e chosen as a 4unction o4 the corner .eriod o4 the .o6er s.ectrum o4 the .rocess out.ut in manual control ;corner .eriod E ! <. &

.ro.er closed loo. time constant 6ill attenuate slo6 distur3ances 6ithout am.li4yin/ noise in the .rocess measurement. 'he 4ollo6in/ tunin/ rules are /i%en in 7?8 ;IM"< and 7198 ;-am3da<. IMC Tuning Rules (self-regulating process) ,I "ontrol>
K= Tc K s ; f + Tdt < Ti = Tc

6here f is 4ilter time constant

,I$ "ontrol ;IS& standard 4orm<>

K= Tc + Tdt ! Ks ; f + Tdt !< Tc Tdt !Tc + Tdt

Ti = Tc + Tdt ! Td =

Lambda Tuning Rules (self-regulating process) ,I "ontrol>

K= Tc + Tdt + Ks Ti = Tc + Tdt +

de4ines the desired closed loo. time constant. ,I$ "ontrol> 'here is no direct 4orm o4 -am3da 'unin/ 4or the ,I$ controller usin/ a 4irst order .lus deadtime .rocess model. Model 3ased control o4 inte/ratin/ .rocesses ena3les the o3jecti%e o4 a%era/in/ control to 3e achie%ed. Rather than attem.tin/ to maintain ti/ht control 3y a//ressi%ely mo%in/ the mani.ulated %aria3le, a%era/in/ control uses the tan#, in the case o4 le%el control, to a3sor3 distur3ances. 2y allo6in/ le%el to s6in/ 6ithin limits, %aria3ility in outlet 4lo6 is reduced minimizin/ distur3ances to do6nstream .rocesses. 'he IM" rule /i%en 3elo6 should 3e used 4or inte/ratin/ .rocesses 6hen deadtime is si/ni4icant. 'he IM" and -am3da results are e5ui%alent 6hen there is no deadtime. For inte/ratin/ .rocesses the tunin/ f and , are the desired time 4or the distur3ance e44ect to 3e arrested, i.e. the time the .arameters, f .rocess out.ut 3e/ins to reco%er 4ollo6in/ a distur3ance. Increasin/ the %alue and rela(es control.

IMC Tuning Rule (integrating process) ,I control>

K= ! f + Td Ki ; f + Td !<! Ti = ! f + Td

y - inte/ratin/ .rocess /ain u t y - D chan/e in the .rocess out.ut Ki = u - D chan/e in the .rocess in.ut t - time inter%al o%er 6hich y and u are calculated

Lambda Tuning Rule (integrating process) ,I control>

K = + Ki Ti

Ti = !

Model 3ased tunin/ usin/ IM" or -am3da rules has some ad%anta/es o%er other tunin/ rules. "ontrollers are less sensiti%e to noise, %al%e li4e is .rolon/ed, and .rocess %aria3ility may 3e minimized. =o6e%er, the .ole-zero cancellation a..roach results in .oor load distur3ance .er4ormance 6hen the .rocess time constant is lon/. & techni5ue su//ested to o%ercome this .ro3lem 7?8 is to a..ly the inte/ratin/ .rocess model in .lace o4 the sel4-re/ulatin/ model. Kee. in mind that the relay oscillation auto-tunin/ techni5ue is ca.a3le o4 identi4yin/ 3oth models 4or a sel4-re/ulatin/ .rocess. Csin/ the IM" rule 4or an inte/ratin/ .rocess may im.ro%e the .er4ormance o4 a sel4-re/ulatin/ .rocess 6ith a lon/ time constant. & techni5ue has 3een su//ested to o3tain 3oth minimum %ariance control and /ood load res.onse 7198. "ontroller settin/s may 3e scheduled as a 4unction o4 de%iation 3et6een .rocess out.ut and set.oint. When the error is small, settin/s are deri%ed 4rom IM" or -am3da tunin/ rulesB i4 the error is lar/er, tunin/ rules such as the modi4ied 0ie/ler-1ichols rules mi/ht 3e a..lied. Model 3ased tunin/ may 3e e(tended to the Smith ,redictor deadtime com.ensatin/ ,I$ controller. 'he 4irst order .lus deadtime .rocess model .ro%ides the Smith ,redictor tunin/ .arameters o4 .rocess /ain, time constant, and deadtime. 'he ,I controller settin/s may 3e determined usin/ IM" or -am3da rules a..lyin/ the /ain and time constant 4rom the .rocess model, 6ith little or no deadtime. 'he enhanced relay oscillation tunin/ method may also 3e used to auto-tune the SISO 4uzzy lo/ic controller descri3ed in 71@8, 71 8. 'he .rocess .arameters needed to tune the scalin/ 4actors are the ultimate .eriod, ultimate /ain, a..arent deadtime, and a..arent time constant. 'he chan/e-in-error scalin/ 4actor is set as a 4unction o4 the ratio o4 deadtime to time constant. 'he chan/e-in-out.ut scalin/ 4actor is calculated 4rom ultimate /ain and chan/e-in-error scalin/ 4actor. 'he error scalin/ 4actor is calculated 4rom ultimate .eriod, scan rate, and chan/e-in-error scalin/ 4actor.

CONCLUSION
Relay oscillation auto-tunin/ may 3e e(tended to identi4y a 4irst-order .lus deadtime or inte/ratin/ .rocess model in addition to ultimate /ain and ultimate .eriod. 'his ca.a3ility o44ers a 6ider choice o4 tunin/ rules and the .otential 4or im.ro%ed loo. .er4ormance. 'he a3ility to s.eci4y relati%e .er4ormance and ro3ustness is an attracti%e 4eature o4 model 3ased tunin/ rules. 'he relay oscillation method is easier to automate than an alternati%e o.en loo. tunin/ method and may 3e less disru.ti%e to the .rocess.

REFERENCES
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