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On-line parameter estimation of an integrator plus delay model

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A method for estimating the parameters of an integrator plus delay model is presented. The characteristic areas of the step response are utilized to estimate the parameters. Explicit expressions are obtained for the parameters; therefore no iterations are needed. The controller settings need not be changed during the estimation test, and the method is applicable to both under- and over-damped closed loops. These features make the method very attractive for on-line tuning.


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