CONTINUOUS-TIME RELAY SELF-TUNING CONTROL

Abstract

A continuous-time relay self-tuning controller is examined. It is found that if the relay operates in the sliding mode, continuous-time self-tuning and its relay version are equivalent. Thus control approaches, such as model-reference, pole-placement and their detuned versions, obtained in the former case, can also be obtained in the latter case. Results are also illustrated by simulation.