Control Lab

Plant Transfer Function G(s)

Numerator Coeffs (descending $s$)

Denominator Coeffs (descending $s$)

Plant Delay ($\tau$) [s]

Controller Strategy C(s)

Control Limit ($u_{sat}$) [V]

Control Mode:

PID

Relay

Manual

Open-loop FR

Setpoint ($r$)

Proportional ($K_p$)

Integral ($K_i$)

Derivative ($K_d$)

Filter Coefficient ($N$)

Feedback Transfer Function H(s)

Numerator Coeffs (descending $s$)

Denominator Coeffs (descending $s$)

Feedback Delay ($\tau_{fb}$) [s]

Simulation Duration [s]

System Block Diagram

r(t)

+

$$ G_{PID}(s) $$

Sat

$$ G(s) $$

y(t)

$$ H(s) $$

Relay Auto-Tuning (Åström–Hägglund)
Period \(P_u\): – s | Oscillation amplitude \(A_{\text{osc}}\): – | \(K_u\): –
Rule:

Drag the two vertical bars on the chart to span one period of the relay oscillation.