Controller design for automatic guidance of agricultural vehicles at high field speeds

Simple methods for identification and controller tuning of double integrating processes with dead time (DIPDT) are presented in this paper. Identification of DIPDT models is performed on-line using a modification of the conventional relay feedback experiment, while controller tuning is performed on the basis either of the placement of the dominant poles of the closed-loop system, or of the minimization of the integral of squared error (ISE) criterion. The theoretical results of the paper are successfully applied to the trajectory tracking problem of agricultural vehicles at high speeds.