On-line controllers tuning of integrator plus delay systems

A method for tuning controllers on-line for an integrator plus delay time system is proposed, based on the Yuwana and Seborg method. The identified model parameters are compared with that of a relay feedback identification method of Friman and Waller. Reported tuning formulae for a PI controller are applied to get the controller parameters. The simulation system considered is an isothermal continuous copolymerization reactor. The performance of the closed loop nonlinear system is compared both for the servo and regulatory problems. The robustness of the proposed on-line controller tuning method is compared with that of a relay feedback method for a disturbance entering the system during the identification test.