The prevailing industrial and academic autotune paradigm uses the relay experiment to find the ultimate data of an unknown system, followed by the use of this data in PI (D) tuning rules. This paper firstly reviews a novel method of obtaining desired frequency response data‐points of an unknown system which is more accurate and flexible than the relay experiment. The paper then demonstrates how this new identification module can be used in closed loop to automate PI controller tuning to achieve classical robustness specifications. The new algorithm is given along with details of MATLAB/SIMULINK simulation results. The non‐parametric identification method developed by the authors and used in this work is termed the Phase Locked Loop method (PLL). The classical robustness specification to be achieved by the PI controller is a pair of desired maximum sensitivity and phase margin specifications. Conclusions and future research directions close the paper.
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