Autotuning positive feedback time delay controller for dead time processes

Biased relay feedback tests are applied to dead time processes to obtain their ultimate gains and ultimate frequencies. First-order process with dead time models are then fitted to the estimated gains and frequencies. A time delay controller that incorporates a simple compensator with a delay element in positive feedback can be derived from the fitted model. The time delay controller gives better performance comparing with classical Ziegler and Nichols tuned PID controller. Experimental study is included to demonstrate the effectiveness of the proposed tuning scheme and the time delay control algorithm.