Matlab code and Simulink blocks for the Tau-tuner, NOMAD and Multi-NOMAD autotuner described further in the PhD Thesis "Automatic Controller Tuning using Relay-based Model Identification" by Josefin Berner 2017.

All the used simulink blocks are in the AT-library in the Autotuners folder. Apart from the three Autotuner versions the library also contains simulink blocks for a simple second order simulation example as well as a block for the two-input two-output model Wood-Berry distillation column.

To run the experiments open the setup_script.m and choose the version you want to run. Remember to put in the wanted autotuner block and process model in the simulink file autotuner_siso_2012a.mdl if you are running a SISO experiment.

If the NOMAD or multi-NOMAD is used it will be using cvx, so make sure it is setup in your matlab session by writing > setup_cvx followed by > cvx_setup before starting your experiment.

All the needed parameters are set in the script setParams.m. Look it through to see if the values on times, nominal control signals etc. are appropriate for your experiments.

The files are compatible with Matlab2012a. If you want to use another matlab version they may need to be converted somehow.

In the ExtraLTH folder there are some additional Simulink blocks in the AT-library that could be useful in the LTH control lab. There are Simulink blocks for the industrial controllers ECA and Honeywell, as well as Simulink blocks for the interface to the quadtank and batch tank processes. A Simulink model using those, as well as a setup script example for the industrial tests are also provided.