Autotuning of phase-lead controller for integrating systems

In this paper, a new method for autotuning of a phase-lead controller for nonselfregulating or integrating systems is proposed. By connecting the system with a suitable high-order derivative filter and a relay with hysteresis, the frequency data of the system can be obtained and phase-lead controllers can be designed based on some phase margin specifications. Simulations and experimental studies are included in the paper to illustrate the performance of the proposed algorithm.