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Autotune (Relay) Tuning Method:

(PDF) Relay Based PID Auto-tuning Applied to a Multivariable Level

Basic scheme for relay-based (PI) auto-tuning. | Download Scientific

Electric Relay Control Troubleshooting Training | Hands-On Skills

Proposed fractional order relay based auto tuning scheme. | Download

Relay tuning method: Responses in the control system. | Download

Relay auto-tuning scheme with delay | Download Scientific Diagram