Ferreiro García, RamónPérez Castelo, Francisco Javier2005-12-212005-12-212000Preprints PID'00, Workshop on Digital Control : Past, Present and Future of PID Control : Terrassa, Spain, April 5-7, 2000, edited by J. Quevedo and T. Escobet, p. 101-104http://hdl.handle.net/2183/466[Abstract] This paper describes a complement to the autotuning ATV method. The proposed strategy is based in a frequency response design technique to get a three-term controller as a special case of a lead-lag design. The main topic of such autotuning technique concerns to the type of excitation signal on the plant which is a sine wave openloop excitation instead of a relay feedback used in the harmonic balanceapplication/pdfengATVFFTRelay oscillationHarmonic balanceconference outputopen access