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Control Algorithm applied to the Hydraulic Reel for Oil Fence

The this study deals with the self turing control of a hydraulic reel for oil fence. The STC has been designed to compensate for parameter changes such as pressure, oil viscosity and velocity. A suggestion of STC(Self tuning Control) are designed on the basic of modified Ziegler-Nichols criterion for digital control loops. The process is modelled as a controlled regression of the third order and its parameters estimated using the recursive least squares method with directional forgetting is applied. The algorithm is suitable for automatic setting of digital PID controllers for control the deterministic.