On potential possibilities of gain and phase margin specifications-oriented robust tuning of Balance-Based Adaptive Controller

In this paper, the potential possibilities of robust tuning of the Balance-Based Adaptive Controller (B-BAC) are discussed in terms of user-defined gain and phase margins. Considering the First Order + Dead Time (FOPDT) process to be controlled and starting from previously suggested simple B-BAC tuning method, the additional tuning parameter is introduced and its influence on the stability boundaries and on the robust tuning region is investigated, in comparison with the conventional PI controller. It is shown that the stability and robust tuning regions are larger for the B-BAController and how the additional tuning parameter can be used for robust retuning of the B-BAController.