An enhanced relay feedback identification method is proposed to identify three frequency data sets from one relay feedback test. The identified data sets are exact for time-invariant linear systems. The method also gives the exact frequency data set corresponding to the multiple of the relay frequency in the presence of a static disturbance. This means that, even though the initial state is not steady state or wrong reference values for relay on−off are specified, it provides an exact data set.
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Sung et al. (1997) studied this question.
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