Air Autotuning Controllers Disturbance rejection Electric control equipment Experimental verification Extended Kalman filters Feedback control Frequency estimation Limit-cycle PI and PID controllers Position control Proportional control systems Proportional integral Proportional-integral and proportional-integral-derivative controller Proportional-integral-derivatives controllers Relay experiment Second-order generalized integrators Takahashi tuning rule Takahashi tuning rules Temperature control Three term control systems Tuning rules Two term control systems auto-tuning experimental verification extended Kalman filter relay experiment second-order generalized integrator