Adaptive relay autotuning under static and non-static disturbances with application to friction stir welding.

When a traditional relay feedback test is biased, asymmetry is induced, erroneous system identification occurs, and the test may stop oscillating. Adaptive methods which restore symmetry to the relay test are developed, and additional methods are presented to detect and recover from a non-oscillation condition. This is demonstrated both in simulation and in a process with significant transients and disturbances - friction stir welding (FSW).