1 Introduction.- 2 Relay Feedback.- 3 Improved Relay Feedback.- 4 Systems with Unstable Zeros or Poles.- 5 Multivariable Systems.- 6 Load Disturbance.- 7 Process Nonlinearity.- 8 Controller Monitoring.- 9 Autotuning for Plantwide Control Systems.- 10 Guidelines for Autotune Procedure.- A MATLAB programs for different kinds of relays.
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