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In this paper it is presented a procedure for closed loop controller tuning using relay experiments.
Pulses (rectangular, double rectangular, doublet) as well as relay experiments have been used.
The friction model consists of Coulomb and viscous friction components, both of which can be automatically extracted from suitably designed relay experiments.
In this paper a new auto-tuning algorithm for PI and PID controllers based on relay experiments is proposed to minimize the load disturbance integral error (IE) by maximizing the integral gain, subject to a desired phase margin, and a minimum required gain margin constraint.
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In this paper it is presented an iterative procedure for closed loop controller tuning applying a relay experiment.
The loop gain is estimated at a few frequency points using an excitation derived from a relay experiment.
To achieve this we used HMQC-RELAY experiments[ 3] (e.g. Figure 1 b; 22 hour experimental time), which transfer magnetization through Hα Hβ and Hβ Hβ J-couplings, and HMQC-NOESY experiments[ 16] (e.g. Figure S6; 31 hour experimental time).
The nonlinear design problem is solved iteratively using relay feedback experiments to estimate the gain and phase margin at each iteration.
The nominal "tuning constants" and the "gain schedule" are found from one relay feedback experiment.
To overcome this problem, power system relay protection experiment in E-learning has been developed.
It enables autonomous, interactive and collaborative learning of relay protection experiment through the Internet.
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