Implementing Adaptive PID Control Using Relay Auto-Tuning Method

Implementation of adaptive PID control using relay auto-tuning method involves: 1) Discretizing the system with 0.1s sampling time, 2) Applying relay (switch) control to measure system parameters Tc and Kc, 3) Determining PID parameters using Ziegler-Nichols formulae table, 4) Implementing closed-loop control, 5) Adjusting PID parameters based on regulation performance. Code implementation typically involves system identification, relay oscillation analysis, and iterative parameter tuning algorithms.