Relay-tuned finite spectrum assignment control of time delay processes

In this paper, the finite spectrum assignment (FSA) control of first-order time delay processes is addressed, including stable and unstable processes. Controller design rules are provided and they require only specifications of classical closed-loop desired properties from the user. Astrom's relay auto-tuning is used to yield input-output transients in the closed-loop, from which the parameters of the model may be extracted. The stability of the so auto-tuned FSA system is discussed and simulation examples are included for illustration.