PID autotuner and its application in HVAC systems

Abstract

In this paper, a simple and efficient PID autotuner is developed and its application to HVAC systems is presented. The autotuner first identifies a second order plus dead time model based on two continuous relay feedback experiments. With the available model, the PID controller is designed on the basis of gain- and phase-margin specifications. Experimental results in HVAC systems shows the effectiveness and superior performance of the proposed autotuner.