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In this paper, a method to estimate the parameters of first and second order systems with time delays with different accuracy levels for autotuning of event-based PID controllers is presented. Information from the describing function of the nonlinearity that introduces the event-based sampling strategy and measures of the oscillations are used to generate the estimations. The event-based sampling condition applied is based on the sampling strategy known as symmetric-send-on-delta.

Transfer function parameters estimation by symmetric send-on-delta sampling