| 摘要 |
<p>It is described a method and arrangement for determining a performance measure (.eta.) of a second controller (331) adapted to control a system (209,309), the method comprising: obtaining first system input data (201) and first system output data (203), while a first controller (211) receives the first system output data (203) and supplies first controller output (201) to the system (209) as the first system input data, the first controller (211) comprising a relay controller; estimating a system delay (.tau.) between the first system input data (201) and the first system output data (203) using a Hilbert transform relations method (103) based on the first system input data (201) and the first system output data (203); obtaining second system output data (303), while the second controller (331) receives a difference (329) between second system output data (303) and reference data (325) and supplies second controller output (333) to the system (309) as second system input data; estimating a minimum system output variance (.sigma.MV2) based on the estimated system delay (.tau.) and an impulse response of the system; and estimating the performance measure (.eta.) based on the estimated minimum system output variance (.sigma.MV2) and a variance (.sigma.y2) of the second system output data.</p> |
