Relay control system

This chapter describes the basic concept of the relay auto-tuning method. The mathematical basis of the method is discussed in detail along with the implementation of the relay auto-tuning method on scalar systems as well as the decentralized and centralized controlled multivariable systems. The effect of higher-order harmonics and the method to incorporate the effects are explained with the help of a simulation study. In addition, the approach of the designing controller for multivariable systems along with the robustness analysis is reviewed.