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1 124 REFERENCES 1. Astrom, K. J. and Hagglund, T. Automatic tuning of simple regulators with specifications on phase and amplitude margins, Automatica, Vol. 20, No. 5, pp , Astrom, K. J. and Hagglund, T. Benchmark system for PID control", Preprint of IFAC PID2000 Workshop, Terrassa, Spain, Atherton, D. P. Relay autotuning: An overview and alternative approach, Ind. Eng. Chem. Res.,Vol. 45, pp , Atherton, D. P.and Majhi, S. Plant parameter identification under relay control, in Proc. IEEE Conference on Decision & Control, Tampa, Florida, USA, Balaguer, P., Alfaro, V. and Arrieta, O. Second order inverse response process identification from transient step response, ISA Transactions, Vol. 50, pp , Bi, Q., Wang, Q. G. and Hang, C. C. Relay-based estimation of multiple points on process frequency response, Automatica, Vol. 33, No. 9, pp , Cheng, Y. C. and Yu, C. C. Relay feedback identification for actuators with hysteresis, Ind. Eng. Chem. Res., Vol. 39, pp , Chien, I. L., Chung, Y. C., Chen, B. S. and Chuang, C. Y. Simple PID controller tuning method for processes with inverse response plus dead time or large overshoot response plus dead time, Ind. Eng. Chem. Res., Vol. 40, No. 20, pp , Friman, M. and Waller, K. V. A two-channel relay for autotuning,ind. Eng. Chem. Res., Vol. 36, pp , Gu, D.,Ou, L., Wang, P. and Zhang, W. Relay feedback autotuningmethod for integrating processeswith inverse response and time delay, Ind. Eng. Chem. Res.,Vol. 45, pp , 2006.

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5 Sung, S. W. and Lee, I. B. Enhanced relay feedback method, Ind. Eng. Chem. Res., Vol. 36, pp , Sung, S. W. andlee, J. Modeling and control ofwiener-type processes,chemical Engineering Science, Vol. 59, pp , Sung, S. W., Lee, J., Lee, D. H., Han, J. H. and Park, Y. S. Twochannel relay feedback method under static disturbances, Ind. Eng. Chem. Res., Vol. 45, pp , Tan,K. K., Lee, T. H. and Jiang, X. On-line relay identification, assessment and tuning of PID controller, Journal of Process Control, Vol. 11, No. 5, pp , Tan, K.K., Lee,T.H., Huang, S., Chua, K.Y. and Ferdous, R. Improved critical point estimation using a pre-load relay, Journal of Process Control, Vol. 16, pp , Tan, K. K., Wang, Q. G., Lee, T. H. and Gan, C. H. Automatic tuning of gain-scheduled control for asymmetrical processes, Control Engineering Process, Vol. 6, pp , Tang, W., Wang, Z., Zhang, J. and Wang, M. A relay feedback based autotuning PID Controller and its application to pulp consistency control, in Proc. Chinese Control Conference, Beijing, China, Thyagarajan, T. and Yu, C. C. Improved autotuning using the shape factor from relay feedback, Ind. Eng. Chem. Res., Vol. 42, pp , Thyagarajan,T., Yu,C. C. and Huang, H. P. Assessmentof controller performance: A relay feedback approach, Chemical Engineering Science, Vol. 58, pp , Vivek, S. and Chidambaram, M. An improved relay auto tuning of PID controllers for unstable FOPTD systems, Computers and Chemical Engineering, Vol. 29, pp , Vivek, S. and Chidambaram, M. Identification using single symmetrical relay feedback test, Computers and Chemical Engineering, Vol. 29, pp , 2005.

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