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Traditionally, both explicit and implicit self-tuning controllers have employed time domain techniques for the identification and tracking of plant and controller parameters. The use of the frequency domain provides concise information on the dynamics of the process which has led to its wide acceptance as a domain for controller design. This paper demonstrates a method employing recursive, on-line measurement of the process frequency response, with a straightforward calculation of PID controller parameters. The computational effort involved is comparable with that of a time domain technique.
Ringwood, John and O'Dwyer, Aidan : A frequency domain based self-tuning PID controller. Proceedings of the Asian Control Conference, pp. 331-334, Tokyo, Japan, July, 1994.