Process Parameters Estimation, Performance Assessment and Controller Retuning Based on the Final Value Theorem: Some Extensions

New techniques based on the application of the final value theorem to suitably devised signals have been recently proposed for the process parameters estimation, performance assessment and retuning of industrial (PID) controllers. The main features of these methods are that they can be applied in closed-loop and they can exploit routine operational data. In this paper we extend this methodology to two relevant cases, that is, those related to the implementation of an internal model control system and of a feedforward control architecture for the set-point following task. Simulation results confirm the effectiveness of the overall strategy also in these cases.