This block calculates the normalized time delay of the output from a relay controller.
τ = (γ - ρ)/(γ - 1)/(ρ*0.35+0.65),
where γ
and ρ
are the asymmetry level of
the relay controller and the half-period ratio, respectively.
J. Berner (2017). "Automatic Controller Tuning using Relay-based Model Identification." Department of Automatic Control, Lund University.