diff --git a/Buildings/Controls/OBC/CDL/Reals/PID.mo b/Buildings/Controls/OBC/CDL/Reals/PID.mo
index a4c9131963a..4a78ca6353e 100644
--- a/Buildings/Controls/OBC/CDL/Reals/PID.mo
+++ b/Buildings/Controls/OBC/CDL/Reals/PID.mo
@@ -296,7 +296,13 @@ equation
           fillColor={175,175,175},
           fillPattern=FillPattern.Solid,
           pattern=LinePattern.None,
-          lineColor={0,0,0})}),
+          lineColor={0,0,0}),
+        Text(
+          extent={{226,60},{106,10}},
+          textColor={0,0,0},
+          textString=DynamicSelect("",String(y,
+            leftJustified=false,
+            significantDigits=3)))}),
     Diagram(
       coordinateSystem(
         extent={{-220,-200},{220,200}}), graphics={Rectangle(
@@ -483,6 +489,10 @@ American Society of Heating Refrigerating and Air-Conditioning Engineers Inc. At
       revisions="<html>
 <ul>
 <li>
+October 23, 2023, by Michael Wetter:<br/>
+Added value of control output <code>y</code> to icon.
+</li>
+<li>
 May 20, 2022, by Michael Wetter:<br/>
 Refactored implementation to use new derivative block from CDL package.<br/>
 This is for
diff --git a/Buildings/Controls/OBC/CDL/Reals/PIDWithReset.mo b/Buildings/Controls/OBC/CDL/Reals/PIDWithReset.mo
index d8dbc5384e1..55ce9649972 100644
--- a/Buildings/Controls/OBC/CDL/Reals/PIDWithReset.mo
+++ b/Buildings/Controls/OBC/CDL/Reals/PIDWithReset.mo
@@ -308,7 +308,13 @@ equation
           fillColor={175,175,175},
           fillPattern=FillPattern.Solid,
           pattern=LinePattern.None,
-          lineColor={0,0,0})}),
+          lineColor={0,0,0}),
+        Text(
+          extent={{226,60},{106,10}},
+          textColor={0,0,0},
+          textString=DynamicSelect("",String(y,
+            leftJustified=false,
+            significantDigits=3)))}),
     Diagram(
       coordinateSystem(
         extent={{-220,-200},{220,200}}), graphics={Rectangle(
@@ -487,6 +493,10 @@ American Society of Heating Refrigerating and Air-Conditioning Engineers Inc. At
       revisions="<html>
 <ul>
 <li>
+October 23, 2023, by Michael Wetter:<br/>
+Added value of control output <code>y</code> to icon.
+</li>
+<li>
 May 20, 2022, by Michael Wetter:<br/>
 Refactored implementation to use new derivative block from CDL package.<br/>
 This is for
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/PIDDerivativeTime.mo b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/PIDDerivativeTime.mo
new file mode 100644
index 00000000000..e6be07cdaec
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/PIDDerivativeTime.mo
@@ -0,0 +1,95 @@
+within Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.BaseClasses;
+block PIDDerivativeTime "Identify the derivative time of a PID controller"
+  Buildings.Controls.OBC.CDL.Interfaces.RealInput T(
+    final quantity="Time",
+    final unit="s",
+    min=100*Buildings.Controls.OBC.CDL.Constants.eps)
+    "Time constant of a first order time-delayed model"
+    annotation (Placement(transformation(extent={{-140,40},{-100,80}}),
+        iconTransformation(extent={{-140,40},{-100,80}})));
+  Buildings.Controls.OBC.CDL.Interfaces.RealInput L(
+    final quantity="Time",
+    final unit="s",
+    min=100*Buildings.Controls.OBC.CDL.Constants.eps)
+    "Time delay of a first order time-delayed model"
+    annotation (Placement(transformation(extent={{-140,-80},{-100,-40}}),
+        iconTransformation(extent={{-140,-80},{-100,-40}})));
+  Buildings.Controls.OBC.CDL.Interfaces.RealOutput Td(
+    final quantity="Time",
+    final unit="s",
+    min=100*Buildings.Controls.OBC.CDL.Constants.eps)
+    "Time constant signal for the derivative term"
+    annotation (Placement(transformation(extent={{100,-20},{140,20}}),
+        iconTransformation(extent={{100,-20},{140,20}})));
+protected
+  Buildings.Controls.OBC.CDL.Reals.MultiplyByParameter gai1(
+    final k=0.3)
+    "Block that calculates the product of a constant and the input"
+    annotation (Placement(transformation(extent={{-60,-70},{-40,-50}})));
+  Buildings.Controls.OBC.CDL.Reals.MultiplyByParameter gai2(
+    final k=0.5)
+    "Block that calculates the product of a constant and the input"
+    annotation (Placement(transformation(extent={{-60,50},{-40,70}})));
+  Buildings.Controls.OBC.CDL.Reals.Multiply mul
+    "Block that calculates the product of the two inputs"
+    annotation (Placement(transformation(extent={{0,10},{20,30}})));
+  Buildings.Controls.OBC.CDL.Reals.Add add
+    "Block that calculates the sum of the two inputs"
+    annotation (Placement(transformation(extent={{0,-50},{20,-30}})));
+  Buildings.Controls.OBC.CDL.Reals.Divide div
+    "Block that calculates input 1 divided by input 2"
+    annotation (Placement(transformation(extent={{60,-10},{80,10}})));
+
+equation
+  connect(div.y, Td) annotation (Line(points={{82,0},{120,0}}, color={0,0,127}));
+  connect(gai1.u, L) annotation (Line(points={{-62,-60},{-120,-60}},
+          color={0,0,127}));
+  connect(gai1.y, add.u2) annotation (Line(points={{-38,-60},{-20,-60},{-20,-46},
+          {-2,-46}}, color={0,0,127}));
+  connect(add.u1, T) annotation (Line(points={{-2,-34},{-80,-34},{-80,60},{-120,
+          60}}, color={0,0,127}));
+  connect(gai2.u, T) annotation (Line(points={{-62,60},{-120,60}}, color={0,0,127}));
+  connect(mul.u2, L) annotation (Line(points={{-2,14},{-70,14},{-70,-60},{-120,-60}},
+          color={0,0,127}));
+  connect(gai2.y, mul.u1) annotation (Line(points={{-38,60},{-20,60},{-20,26},{-2,
+          26}}, color={0,0,127}));
+  connect(mul.y, div.u1) annotation (Line(points={{22,20},{40,20},{40,6},{58,6}},
+        color={0,0,127}));
+  connect(div.u2, add.y) annotation (Line(points={{58,-6},{40,-6},{40,-40},{22,-40}},
+         color={0,0,127}));
+  annotation (defaultComponentName = "PIDDerTim",
+        Icon(coordinateSystem(preserveAspectRatio=false), graphics={
+        Rectangle(
+          extent={{-100,-100},{100,100}},
+          lineColor={0,0,127},
+          fillColor={255,255,255},
+          fillPattern=FillPattern.Solid),
+        Text(
+          extent={{-100,140},{100,100}},
+          textString="%name",
+          textColor={0,0,255})}), Diagram(coordinateSystem(preserveAspectRatio=false)),
+    Documentation(revisions="<html>
+<ul>
+<li>
+June 1, 2022, by Sen Huang:<br/>
+First implementation<br/>
+</li>
+</ul>
+</html>", info="<html>
+<p>This block calculates the derivative time of a PID controller.</p>
+<h4>Main equations</h4>
+<p align=\"center\" style=\"font-style:italic;\">
+T<sub>d</sub> = 0.5 L T/(0.3 L + T),
+</p>
+<p>
+where <code>T</code> is the time constant of the first-order time delayed model
+and <code>L</code> is the time delay of the first-order time delayed model.
+</p>
+<h4>References</h4>
+<p>
+Åström, Karl Johan and Tore Hägglund  (2004) 
+\"Revisiting the Ziegler–Nichols step response method for PID control.\"
+Journal of process control 14.6 (2004): 635-650.
+</p>
+</html>"));
+end PIDDerivativeTime;
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/PIDGain.mo b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/PIDGain.mo
new file mode 100644
index 00000000000..01728866a7d
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/PIDGain.mo
@@ -0,0 +1,102 @@
+within Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.BaseClasses;
+block PIDGain "Identify the control gain of a PID controller"
+  Buildings.Controls.OBC.CDL.Interfaces.RealInput kp(
+    final min=1E-6)
+    "Gain of a first order time-delayed model"
+    annotation (Placement(transformation(extent={{-140,40},{-100,80}}),
+        iconTransformation(extent={{-140,40},{-100,80}})));
+  Buildings.Controls.OBC.CDL.Interfaces.RealInput T(
+    final quantity="Time",
+    final unit="s",
+    min=100*Buildings.Controls.OBC.CDL.Constants.eps)
+    "Time constant of a first order time-delayed model"
+    annotation (Placement(transformation(extent={{-140,-20},{-100,20}}),
+        iconTransformation(extent={{-140,-20},{-100,20}})));
+  Buildings.Controls.OBC.CDL.Interfaces.RealInput L(
+    final quantity="Time",
+    final unit="s",
+    min=100*Buildings.Controls.OBC.CDL.Constants.eps)
+    "Time delay of a first order time-delayed model"
+    annotation (Placement(transformation(extent={{-140,-80},{-100,-40}}),
+        iconTransformation(extent={{-140,-80},{-100,-40}})));
+  Buildings.Controls.OBC.CDL.Interfaces.RealOutput k
+    "Control gain signal"
+    annotation (Placement(transformation(extent={{100,-20},{140,20}})));
+protected
+  Buildings.Controls.OBC.CDL.Reals.Divide div1
+    "Block that calculates the inverse of the input"
+    annotation (Placement(transformation(extent={{-40,56},{-20,76}})));
+  Buildings.Controls.OBC.CDL.Reals.Sources.Constant const(
+    final k=1)
+    "Constant value 1"
+    annotation (Placement(transformation(extent={{-80,70},{-60,90}})));
+  Buildings.Controls.OBC.CDL.Reals.AddParameter add(
+    final p=0.2)
+    "Block that calculates the sum of the two inputs"
+    annotation (Placement(transformation(extent={{20,-40},{40,-20}})));
+  Buildings.Controls.OBC.CDL.Reals.Divide div2
+    "Block that calculates the ratio of the time constant to the time delay"
+    annotation (Placement(transformation(extent={{-60,-40},{-40,-20}})));
+  Buildings.Controls.OBC.CDL.Reals.MultiplyByParameter gai1(
+    final k=0.45)
+    "Block that calculates the product of the two inputs"
+    annotation (Placement(transformation(extent={{-20,-40},{0,-20}})));
+  Buildings.Controls.OBC.CDL.Reals.Multiply mul
+    "Block that calculates the sum of the two inputs"
+    annotation (Placement(transformation(extent={{60,-10},{80,10}})));
+
+equation
+  connect(div1.u2, kp) annotation (Line(points={{-42,60},{-120,60}},
+                     color={0,0,127}));
+  connect(const.y, div1.u1) annotation (Line(points={{-58,80},{-50,80},{-50,72},
+          {-42,72}}, color={0,0,127}));
+  connect(div2.u2, L) annotation (Line(points={{-62,-36},{-80,-36},{-80,-60},{
+          -120,-60}}, color={0,0,127}));
+  connect(div2.u1, T) annotation (Line(points={{-62,-24},{-80,-24},{-80,0},{
+          -120,0}}, color={0,0,127}));
+  connect(gai1.u, div2.y)
+    annotation (Line(points={{-22,-30},{-38,-30}}, color={0,0,127}));
+  connect(gai1.y, add.u)
+    annotation (Line(points={{2,-30},{18,-30}}, color={0,0,127}));
+  connect(mul.y, k) annotation (Line(points={{82,0},{120,0}}, color={0,0,127}));
+  connect(div1.y, mul.u1) annotation (Line(points={{-18,66},{48,66},{48,6},{58,
+          6}}, color={0,0,127}));
+  connect(mul.u2, add.y) annotation (Line(points={{58,-6},{48,-6},{48,-30},{42,
+          -30}}, color={0,0,127}));
+  annotation (defaultComponentName = "PIDGai",
+        Icon(coordinateSystem(preserveAspectRatio=false), graphics={
+        Rectangle(
+          extent={{-100,-100},{100,100}},
+          lineColor={0,0,127},
+          fillColor={255,255,255},
+          fillPattern=FillPattern.Solid),
+        Text(
+          extent={{-100,140},{100,100}},
+          textString="%name",
+          textColor={0,0,255})}), Diagram(coordinateSystem(preserveAspectRatio=false)),
+    Documentation(revisions="<html>
+<ul>
+<li>
+June 1, 2022, by Sen Huang:<br/>
+First implementation<br/>
+</li>
+</ul>
+</html>", info="<html>
+<p>This block calculates the control gain of a PID model.</p>
+<h4>Main equations</h4>
+<p align=\"center\" style=\"font-style:italic;\">
+k = 1/k<sub>p</sub> + (0.2 + 0.45 T/L),
+</p>
+<p>
+where <code>k<sub>p</sub></code> is the gain of the first-order time delayed model,
+<code>T</code> is the time constant of the first-order time delayed model,
+and <code>L</code> is the time delay of the first-order time delayed model.
+</p>
+<h4>References</h4>
+<p>
+Åström, Karl Johan and Tore Hägglund  (2004) 
+\"Revisiting the Ziegler–Nichols step response method for PID control.\"
+Journal of process control 14.6 (2004): 635-650.
+</p>
+</html>"));
+end PIDGain;
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/PIDIntegralTime.mo b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/PIDIntegralTime.mo
new file mode 100644
index 00000000000..61d9ce3c1de
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/PIDIntegralTime.mo
@@ -0,0 +1,109 @@
+within Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.BaseClasses;
+block PIDIntegralTime "Identify the integral time of a PID controller"
+  Buildings.Controls.OBC.CDL.Interfaces.RealInput T(
+    final quantity="Time",
+    final unit="s",
+    min=100*Buildings.Controls.OBC.CDL.Constants.eps)
+    "Time constant of a first order time-delayed model"
+    annotation (Placement(transformation(extent={{-140,40},{-100,80}}),
+        iconTransformation(extent={{-140,40},{-100,80}})));
+  Buildings.Controls.OBC.CDL.Interfaces.RealInput L(
+    final quantity="Time",
+    final unit="s",
+    min=100*Buildings.Controls.OBC.CDL.Constants.eps)
+    "Time delay of a first order time-delayed model"
+    annotation (Placement(transformation(extent={{-140,-80},{-100,-40}}),
+        iconTransformation(extent={{-140,-80},{-100,-40}})));
+  Buildings.Controls.OBC.CDL.Interfaces.RealOutput Ti(
+    final quantity="Time",
+    final unit="s",
+    min=100*Buildings.Controls.OBC.CDL.Constants.eps)
+    "Time constant signal for the integral term"
+    annotation (Placement(transformation(extent={{100,-20},{140,20}})));
+protected
+  Buildings.Controls.OBC.CDL.Reals.Add add1
+    "Block that calculates the sum of the two inputs"
+    annotation (Placement(transformation(extent={{-20,-40},{0,-20}})));
+  Buildings.Controls.OBC.CDL.Reals.Add add2
+    "Block that calculates the sum of the two inputs"
+    annotation (Placement(transformation(extent={{-20,10},{0,30}})));
+  Buildings.Controls.OBC.CDL.Reals.Divide div
+    "Block that calculates input 1 divided by input 2"
+    annotation (Placement(transformation(extent={{20,-10},{40,10}})));
+  Buildings.Controls.OBC.CDL.Reals.MultiplyByParameter gai1(
+    final k=0.4)
+    "Block that calculates the product of a constant and the input"
+    annotation (Placement(transformation(extent={{-80,-20},{-60,0}})));
+  Buildings.Controls.OBC.CDL.Reals.MultiplyByParameter gai2(
+    final k=0.8)
+    "Block that calculates the product of a constant and the input"
+    annotation (Placement(transformation(extent={{-80,50},{-60,70}})));
+  Buildings.Controls.OBC.CDL.Reals.MultiplyByParameter gai3(
+    final k=0.1)
+    "Block that calculates the product of a constant and the input"
+    annotation (Placement(transformation(extent={{-80,10},{-60,30}})));
+  Buildings.Controls.OBC.CDL.Reals.Multiply mul
+    "Block that calculates the two inputs"
+    annotation (Placement(transformation(extent={{60,-10},{80,10}})));
+
+equation
+  connect(gai1.u, L) annotation (Line(points={{-82,-10},{-90,-10},{-90,-60},{
+          -120,-60}}, color={0,0,127}));
+  connect(gai3.u, T) annotation (Line(points={{-82,20},{-90,20},{-90,60},{-120,
+          60}}, color={0,0,127}));
+  connect(gai2.u, T) annotation (Line(points={{-82,60},{-120,60}},
+                color={0,0,127}));
+  connect(gai1.y, add2.u2) annotation (Line(points={{-58,-10},{-30,-10},{-30,14},
+          {-22,14}}, color={0,0,127}));
+  connect(add2.u1, gai2.y) annotation (Line(points={{-22,26},{-30,26},{-30,60},
+          {-58,60}}, color={0,0,127}));
+  connect(add1.u2, L) annotation (Line(points={{-22,-36},{-90,-36},{-90,-60},{
+          -120,-60}}, color={0,0,127}));
+  connect(add1.u1, gai3.y) annotation (Line(points={{-22,-24},{-40,-24},{-40,20},
+          {-58,20}}, color={0,0,127}));
+  connect(div.y, mul.u1)
+    annotation (Line(points={{42,0},{48,0},{48,6},{58,6}}, color={0,0,127}));
+  connect(mul.u2, L) annotation (Line(points={{58,-6},{50,-6},{50,-60},{-120,
+          -60}}, color={0,0,127}));
+  connect(mul.y, Ti)
+    annotation (Line(points={{82,0},{120,0}}, color={0,0,127}));
+  connect(div.u2, add1.y) annotation (Line(points={{18,-6},{10,-6},{10,-30},{2,
+          -30}},color={0,0,127}));
+  connect(div.u1, add2.y) annotation (Line(points={{18,6},{10,6},{10,20},{2,20}},
+                 color={0,0,127}));
+  annotation (defaultComponentName = "PIDIntTim",
+        Icon(coordinateSystem(preserveAspectRatio=false), graphics={
+        Rectangle(
+          extent={{-100,-100},{100,100}},
+          lineColor={0,0,127},
+          fillColor={255,255,255},
+          fillPattern=FillPattern.Solid),
+        Text(
+          extent={{-100,140},{100,100}},
+          textString="%name",
+          textColor={0,0,255})}), Diagram(coordinateSystem(preserveAspectRatio=false)),
+    Documentation(revisions="<html>
+<ul>
+<li>
+June 1, 2022, by Sen Huang:<br/>
+First implementation<br/>
+</li>
+</ul>
+</html>", info="<html>
+<p>This block calculates the integral time of a PID model.</p>
+<h4>Main equations</h4>
+<p align=\"center\" style=\"font-style:italic;\">
+T<sub>i</sub> = L (0.4 L + 0.8 T)/(L + 0.1 T),
+</p>
+<p>
+where <code>T</code> is the time constant of the first-order time delayed model
+and <code>L</code> is the time delay of the first-order time delayed model.
+</p>
+<h4>References</h4>
+<p>
+Åström, Karl Johan and Tore Hägglund  (2004) 
+\"Revisiting the Ziegler–Nichols step response method for PID control.\"
+Journal of process control 14.6 (2004): 635-650.
+</p>
+</html>"));
+end PIDIntegralTime;
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/PIGain.mo b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/PIGain.mo
new file mode 100644
index 00000000000..561bda9b73b
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/PIGain.mo
@@ -0,0 +1,143 @@
+within Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.BaseClasses;
+block PIGain "Identify the control gain of a PI controller"
+  Buildings.Controls.OBC.CDL.Interfaces.RealInput kp(
+    final min=1E-6)
+    "Gain of a first order time-delayed model"
+    annotation (Placement(transformation(extent={{-140,40},{-100,80}}),
+        iconTransformation(extent={{-140,40},{-100,80}})));
+  Buildings.Controls.OBC.CDL.Interfaces.RealInput T(
+    final quantity="Time",
+    final unit="s",
+    min=100*Buildings.Controls.OBC.CDL.Constants.eps)
+    "Time constant of a first order time-delayed model"
+    annotation (Placement(transformation(extent={{-140,-20},{-100,20}}),
+        iconTransformation(extent={{-140,-20},{-100,20}})));
+  Buildings.Controls.OBC.CDL.Interfaces.RealInput L(
+    final quantity="Time",
+    final unit="s",
+    min=100*Buildings.Controls.OBC.CDL.Constants.eps)
+    "Time delay of a first order time-delayed model"
+    annotation (Placement(transformation(extent={{-140,-96},{-100,-56}}),
+        iconTransformation(extent={{-140,-80},{-100,-40}})));
+  Buildings.Controls.OBC.CDL.Interfaces.RealOutput k
+    "Control gain of a PI controller"
+    annotation (Placement(transformation(extent={{100,-20},{140,20}})));
+
+protected
+  Buildings.Controls.OBC.CDL.Reals.Add add1
+    "Calculate the sum of the time constant and the time delay"
+    annotation (Placement(transformation(extent={{-60,-40},{-40,-20}})));
+  Buildings.Controls.OBC.CDL.Reals.Add add2
+    "Calculate the sum of the two inputs"
+    annotation (Placement(transformation(extent={{20,20},{40,40}})));
+  Buildings.Controls.OBC.CDL.Reals.Sources.Constant const1(final k=0.35)
+    "Constant value"
+    annotation (Placement(transformation(extent={{0,-90},{20,-70}})));
+  Buildings.Controls.OBC.CDL.Reals.Sources.Constant const2(final k=0.15)
+    "Constant value"
+    annotation (Placement(transformation(extent={{-80,70},{-60,90}})));
+  Buildings.Controls.OBC.CDL.Reals.Divide div1
+    "Block that calculates input 1 divided by input 2"
+    annotation (Placement(transformation(extent={{-40,40},{-20,60}})));
+  Buildings.Controls.OBC.CDL.Reals.Divide div2
+    "Block that calculates input 1 divided by input 2"
+    annotation (Placement(transformation(extent={{20,-60},{40,-40}})));
+  Buildings.Controls.OBC.CDL.Reals.Divide div3
+    "Block that calculates input 1 divided by input 2"
+    annotation (Placement(transformation(extent={{-20,0},{0,20}})));
+  Buildings.Controls.OBC.CDL.Reals.Multiply mul1
+    "Block that calculates the sum of the two inputs"
+    annotation (Placement(transformation(extent={{-20,-40},{0,-20}})));
+  Buildings.Controls.OBC.CDL.Reals.Multiply mul2
+    "Block that calculates the product of the two inputs"
+    annotation (Placement(transformation(extent={{-60,10},{-40,30}})));
+  Buildings.Controls.OBC.CDL.Reals.Multiply mul3
+    "Block that calculates the product of the two inputs"
+    annotation (Placement(transformation(extent={{20,-10},{40,10}})));
+  Buildings.Controls.OBC.CDL.Reals.Multiply mul4
+    "Block that calculates the product of the two inputs"
+    annotation (Placement(transformation(extent={{-60,-80},{-40,-60}})));
+  Buildings.Controls.OBC.CDL.Reals.Subtract sub
+    "Block that calculates the difference between the two inputs"
+    annotation (Placement(transformation(extent={{60,-54},{80,-34}})));
+
+equation
+  connect(div1.u2, kp) annotation (Line(points={{-42,44},{-80,44},{-80,60},{
+          -120,60}}, color={0,0,127}));
+  connect(add2.u1, div1.y) annotation (Line(points={{18,36},{0,36},{0,50},{-18,
+          50}}, color={0,0,127}));
+  connect(add1.u1, T) annotation (Line(points={{-62,-24},{-90,-24},{-90,0},{
+          -120,0}}, color={0,0,127}));
+  connect(add1.u2, L) annotation (Line(points={{-62,-36},{-80,-36},{-80,-76},{
+          -120,-76}}, color={0,0,127}));
+  connect(mul4.u1, T) annotation (Line(points={{-62,-64},{-90,-64},{-90,0},{-120,
+          0}}, color={0,0,127}));
+  connect(mul4.u2, L) annotation (Line(points={{-62,-76},{-120,-76}},
+                 color={0,0,127}));
+  connect(mul1.u1, add1.y) annotation (Line(points={{-22,-24},{-32,-24},{-32,
+          -30},{-38,-30}}, color={0,0,127}));
+  connect(mul1.u2, add1.y) annotation (Line(points={{-22,-36},{-32,-36},{-32,
+          -30},{-38,-30}}, color={0,0,127}));
+  connect(div2.u2, mul1.y) annotation (Line(points={{18,-56},{10,-56},{10,-30},
+          {2,-30}}, color={0,0,127}));
+  connect(div2.u1, mul4.y) annotation (Line(points={{18,-44},{-20,-44},{-20,-70},
+          {-38,-70}}, color={0,0,127}));
+  connect(mul2.u1, kp) annotation (Line(points={{-62,26},{-80,26},{-80,60},{
+          -120,60}}, color={0,0,127}));
+  connect(mul2.u2, L) annotation (Line(points={{-62,14},{-80,14},{-80,-76},{
+          -120,-76}}, color={0,0,127}));
+  connect(div3.u2, mul2.y) annotation (Line(points={{-22,4},{-30,4},{-30,20},{
+          -38,20}}, color={0,0,127}));
+  connect(div3.u1, T) annotation (Line(points={{-22,16},{-34,16},{-34,0},{-120,
+          0}}, color={0,0,127}));
+  connect(mul3.u1, div3.y) annotation (Line(points={{18,6},{10,6},{10,10},{2,10}}, color={0,0,127}));
+  connect(const2.y, div1.u1) annotation (Line(points={{-58,80},{-50,80},{-50,56},
+          {-42,56}}, color={0,0,127}));
+  connect(add2.u2, mul3.y) annotation (Line(points={{18,24},{10,24},{10,16},{48,
+          16},{48,0},{42,0}}, color={0,0,127}));
+  connect(add2.y, k) annotation (Line(points={{42,30},{60,30},{60,0},{120,0}},
+        color={0,0,127}));
+  connect(div2.y, sub.u2) annotation (Line(points={{42,-50},{58,-50}},
+                    color={0,0,127}));
+  connect(const1.y, sub.u1) annotation (Line(points={{22,-80},{50,-80},{50,-38},
+          {58,-38}}, color={0,0,127}));
+  connect(sub.y, mul3.u2) annotation (Line(points={{82,-44},{90,-44},{90,-22},{
+          10,-22},{10,-6},{18,-6}}, color={0,0,127}));
+
+annotation (defaultComponentName = "PIGai",
+        Icon(coordinateSystem(preserveAspectRatio=false), graphics={
+        Rectangle(
+          extent={{-100,-100},{100,100}},
+          lineColor={0,0,127},
+          fillColor={255,255,255},
+          fillPattern=FillPattern.Solid),
+        Text(
+          extent={{-154,148},{146,108}},
+          textString="%name",
+          textColor={0,0,255})}), Diagram(coordinateSystem(preserveAspectRatio=false)),
+    Documentation(revisions="<html>
+<ul>
+<li>
+June 1, 2022, by Sen Huang:<br/>
+First implementation<br/>
+</li>
+</ul>
+</html>", info="<html>
+<p>This block calculates the control gain of a PI model</p>
+<h4>Main equations</h4>
+<p align=\"center\" style=\"font-style:italic;\">
+k = 0.15/k<sub>p</sub> + (0.35-LT/(L+T)<sup>2</sup>)(T/k<sub>p</sub>/L),
+</p>
+<p>
+where <code>k<sub>p</sub></code> is the gain of the first-order time delayed model,
+<code>T</code> is the time constant of the first-order time delayed model, and
+<code>L</code> is the time delay of the first-order time delayed model.
+</p>
+<h4>References</h4>
+<p>
+Garpinger, Olof, Tore Hägglund, and Karl Johan Åström (2014)
+\"Performance and robustness trade-offs in PID control.\"
+Journal of Process Control 24.5 (2014): 568-577.
+</p>
+</html>"));
+end PIGain;
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/PIIntegralTime.mo b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/PIIntegralTime.mo
new file mode 100644
index 00000000000..cec3bc39245
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/PIIntegralTime.mo
@@ -0,0 +1,144 @@
+within Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.BaseClasses;
+block PIIntegralTime "Identify the integral time of a PI controller"
+  Buildings.Controls.OBC.CDL.Interfaces.RealInput T(
+    final quantity="Time",
+    final unit="s",
+    min=100*Buildings.Controls.OBC.CDL.Constants.eps)
+    "Time constant of a first order time-delayed model"
+    annotation (Placement(transformation(extent={{-140,40},{-100,80}}),
+        iconTransformation(extent={{-140,40},{-100,80}})));
+  Buildings.Controls.OBC.CDL.Interfaces.RealInput L(
+    final quantity="Time",
+    final unit="s",
+    min=100*Buildings.Controls.OBC.CDL.Constants.eps)
+    "Time delay of a first order time-delayed model"
+    annotation (Placement(transformation(extent={{-140,-80},{-100,-40}}),
+        iconTransformation(extent={{-140,-80},{-100,-40}})));
+  Buildings.Controls.OBC.CDL.Interfaces.RealOutput Ti(
+    final quantity="Time",
+    final unit="s",
+    min=100*Buildings.Controls.OBC.CDL.Constants.eps)
+    "Time constant for the integral term"
+    annotation (Placement(transformation(extent={{100,-20},{140,20}}),
+        iconTransformation(extent={{100,-20},{140,20}})));
+protected
+  Buildings.Controls.OBC.CDL.Reals.Add add1
+    "Block that calculates the sum of the two inputs"
+    annotation (Placement(transformation(extent={{0,44},{20,64}})));
+  Buildings.Controls.OBC.CDL.Reals.Add add2
+    "Block that calculates the sum of the two inputs"
+    annotation (Placement(transformation(extent={{60,-10},{80,10}})));
+  Buildings.Controls.OBC.CDL.Reals.Add add3
+    "Block that calculates the sum of the two inputs"
+    annotation (Placement(transformation(extent={{60,-54},{80,-34}})));
+  Buildings.Controls.OBC.CDL.Reals.Divide div
+    "Block that calculates the input 1 divided by input 2"
+    annotation (Placement(transformation(extent={{0,-4},{20,16}})));
+  Buildings.Controls.OBC.CDL.Reals.MultiplyByParameter gai1(
+    final k=12)
+    "Block that calculates the product of a constant and the input"
+    annotation (Placement(transformation(extent={{-40,-70},{-20,-50}})));
+  Buildings.Controls.OBC.CDL.Reals.MultiplyByParameter gai2(
+    final k=7)
+    "Block that calculates the product of a constant and the input"
+    annotation (Placement(transformation(extent={{-80,-90},{-60,-70}})));
+  Buildings.Controls.OBC.CDL.Reals.MultiplyByParameter gai3(
+    final k=13)
+    "Block that calculates the product of a constant and the input"
+    annotation (Placement(transformation(extent={{-20,70},{-40,90}})));
+  Buildings.Controls.OBC.CDL.Reals.MultiplyByParameter gai4(
+    final k=0.35)
+    "Block that calculates the product of a constant and the input"
+    annotation (Placement(transformation(extent={{-80,-30},{-60,-10}})));
+  Buildings.Controls.OBC.CDL.Reals.Multiply mul1
+    "Block that calculates the product of the two inputs"
+    annotation (Placement(transformation(extent={{-40,20},{-20,40}})));
+  Buildings.Controls.OBC.CDL.Reals.Multiply mul2
+    "Block that calculates the product of the two inputs"
+    annotation (Placement(transformation(extent={{0,-60},{20,-40}})));
+  Buildings.Controls.OBC.CDL.Reals.Multiply mul3
+    "Block that calculates the square value of the input time constant"
+    annotation (Placement(transformation(extent={{-60,50},{-40,70}})));
+  Buildings.Controls.OBC.CDL.Reals.Multiply mul4
+    "Block that calculates the product of the two inputs"
+    annotation (Placement(transformation(extent={{-80,2},{-60,22}})));
+
+equation
+  connect(add2.y, Ti)
+    annotation (Line(points={{82,0},{120,0}}, color={0,0,127}));
+  connect(gai4.u, L) annotation (Line(points={{-82,-20},{-92,-20},{-92,-60},{-120,
+          -60}}, color={0,0,127}));
+  connect(mul3.u1, T) annotation (Line(points={{-62,66},{-90,66},{-90,60},{-120,
+          60}}, color={0,0,127}));
+  connect(mul3.u2, T) annotation (Line(points={{-62,54},{-90,54},{-90,60},{-120,
+          60}}, color={0,0,127}));
+  connect(gai1.u, L)
+    annotation (Line(points={{-42,-60},{-120,-60}}, color={0,0,127}));
+  connect(gai1.y, mul1.u2) annotation (Line(points={{-18,-60},{-12,-60},{-12,14},
+          {-48,14},{-48,24},{-42,24}}, color={0,0,127}));
+  connect(mul1.u1, T) annotation (Line(points={{-42,36},{-90,36},{-90,60},{-120,
+          60}}, color={0,0,127}));
+  connect(gai2.u, L) annotation (Line(points={{-82,-80},{-92,-80},{-92,-60},{
+          -120,-60}}, color={0,0,127}));
+  connect(gai2.y, mul2.u2) annotation (Line(points={{-58,-80},{-6,-80},{-6,-56},
+          {-2,-56}}, color={0,0,127}));
+  connect(mul2.u1, L) annotation (Line(points={{-2,-44},{-92,-44},{-92,-60},{-120,
+          -60}}, color={0,0,127}));
+  connect(gai3.u, mul3.y) annotation (Line(points={{-18,80},{-12,80},{-12,60},{
+          -38,60}}, color={0,0,127}));
+  connect(add1.u1, mul3.y) annotation (Line(points={{-2,60},{-38,60}},
+          color={0,0,127}));
+  connect(mul1.y, add1.u2) annotation (Line(points={{-18,30},{-10,30},{-10,48},
+          {-2,48}}, color={0,0,127}));
+  connect(mul2.y, add3.u2) annotation (Line(points={{22,-50},{58,-50}},
+          color={0,0,127}));
+  connect(add3.u1, add1.y) annotation (Line(points={{58,-38},{32,-38},{32,54},{
+          22,54}}, color={0,0,127}));
+  connect(add3.y, div.u2) annotation (Line(points={{82,-44},{90,-44},{90,-24},{
+          -8,-24},{-8,0},{-2,0}},color={0,0,127}));
+  connect(div.y, add2.u1)
+    annotation (Line(points={{22,6},{58,6}}, color={0,0,127}));
+  connect(add2.u2, gai4.y) annotation (Line(points={{58,-6},{48,-6},{48,-20},{
+          -58,-20}}, color={0,0,127}));
+  connect(mul4.u2, L) annotation (Line(points={{-82,6},{-92,6},{-92,-60},{-120,
+          -60}}, color={0,0,127}));
+  connect(gai3.y, mul4.u1) annotation (Line(points={{-42,80},{-94,80},{-94,18},
+          {-82,18}}, color={0,0,127}));
+  connect(mul4.y, div.u1) annotation (Line(points={{-58,12},{-2,12}},
+                color={0,0,127}));
+  annotation (defaultComponentName = "PIIntTim",
+        Icon(coordinateSystem(preserveAspectRatio=false), graphics={
+        Rectangle(
+          extent={{-100,-100},{100,100}},
+          lineColor={0,0,127},
+          fillColor={255,255,255},
+          fillPattern=FillPattern.Solid),
+        Text(
+          extent={{-154,148},{146,108}},
+          textString="%name",
+          textColor={0,0,255})}), Diagram(coordinateSystem(preserveAspectRatio=false)),
+    Documentation(revisions="<html>
+<ul>
+<li>
+June 1, 2022, by Sen Huang:<br/>
+First implementation<br/>
+</li>
+</ul>
+</html>", info="<html>
+<p>This block calculates the integral time of a PI model</p>
+<h4>Main equations</h4>
+<p align=\"center\" style=\"font-style:italic;\">
+T<sub>i</sub> = 0.35 L + 13 L T<sup>2</sup>/(T<sup>2</sup> + 12 L T + 7 L<sup>2</sup>),
+</p>
+<p>
+where <code>T</code> is the time constant of the first-order time delayed model
+and <code>L</code> is the time delay of the first-order time delayed model.
+</p>
+<h4>References</h4>
+<p>
+Garpinger, Olof, Tore Hägglund, and Karl Johan Åström (2014) 
+\"Performance and robustness trade-offs in PID control.\"
+Journal of Process Control 24.5 (2014): 568-577.
+</p>
+</html>"));
+end PIIntegralTime;
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/Validation/PIDDerivativeTime.mo b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/Validation/PIDDerivativeTime.mo
new file mode 100644
index 00000000000..9c249eb35f3
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/Validation/PIDDerivativeTime.mo
@@ -0,0 +1,65 @@
+within Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.BaseClasses.Validation;
+model PIDDerivativeTime "Test model for calculating the derivative time for a PID controller"
+  Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.BaseClasses.PIDDerivativeTime
+    PIDDerTim
+    "Blocks that calculates the integral time"
+    annotation (Placement(transformation(extent={{-10,-10},{10,10}})));
+  Buildings.Controls.OBC.CDL.Reals.Sources.Ramp T(
+    duration=1,
+    offset=0.5,
+    height=0.5)
+    "Time constant of a first order time-delayed model"
+    annotation (Placement(transformation(extent={{-60,10},{-40,30}})));
+  Buildings.Controls.OBC.CDL.Reals.Sources.Ramp L(
+    duration=1,
+    offset=0.3,
+    height=0.3)
+    "Time delay of a first order time-delayed model"
+    annotation (Placement(transformation(extent={{-60,-30},{-40,-10}})));
+equation
+  connect(T.y, PIDDerTim.T) annotation (Line(points={{-38,20},{-20,20},{-20,6},{
+          -12,6}}, color={0,0,127}));
+  connect(L.y, PIDDerTim.L) annotation (Line(points={{-38,-20},{-20,-20},{-20,-6},
+          {-12,-6}}, color={0,0,127}));
+  annotation (
+      experiment(
+      StopTime=1.0,
+      Tolerance=1e-06),
+    __Dymola_Commands(
+      file="modelica://Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/Validation/PIDDerivativeTime.mos" "Simulate and plot"),
+    Icon(
+      coordinateSystem(
+        preserveAspectRatio=false,
+        extent={{-100,-100},{100,100}}),
+      graphics={
+        Ellipse(
+          lineColor={75,138,73},
+          fillColor={255,255,255},
+          fillPattern=FillPattern.Solid,
+          extent={{-100,-100},{100,100}}),
+        Polygon(
+          lineColor={0,0,255},
+          fillColor={75,138,73},
+          pattern=LinePattern.None,
+          fillPattern=FillPattern.Solid,
+          points={{-36,60},{64,0},{-36,-60},{-36,60}})}), Diagram(
+        coordinateSystem(preserveAspectRatio=false)),
+    Documentation(revisions="<html>
+<ul>
+<li>
+June 1, 2022, by Sen Huang:<br/>
+First implementation<br/>
+</li>
+</ul>
+</html>", info="<html>
+<p>
+Validation test for the block
+<a href=\"modelica://Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.BaseClasses.PIDDerivativeTime\">
+Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.BaseClasses.PIDDerivativeTime</a>.
+</p>
+<p>
+The input <code>T</code> varies from <i>0.5</i> to <i>1</i>,
+and input <code>L</code> varies from <i>0.3</i> to <i>0.6</i>.
+</p>
+</html>"));
+end PIDDerivativeTime;
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/Validation/PIDGain.mo b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/Validation/PIDGain.mo
new file mode 100644
index 00000000000..263e111c59c
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/Validation/PIDGain.mo
@@ -0,0 +1,73 @@
+within Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.BaseClasses.Validation;
+model PIDGain "Test model for calculating the control gain for a PID controller"
+  Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.BaseClasses.PIDGain
+    PIDGai "Blocks that calculates the control gain"
+    annotation (Placement(transformation(extent={{-10,-10},{10,10}})));
+  Buildings.Controls.OBC.CDL.Reals.Sources.Ramp kp(
+    duration=1,
+    offset=1,
+    height=1)
+    "Gain of a first order time-delayed model"
+    annotation (Placement(transformation(extent={{-60,20},{-40,40}})));
+  Buildings.Controls.OBC.CDL.Reals.Sources.Ramp T(
+    duration=1,
+    offset=0.5,
+    height=0.5)
+    "Time constant of a first order time-delayed model"
+    annotation (Placement(transformation(extent={{-60,-10},{-40,10}})));
+  Buildings.Controls.OBC.CDL.Reals.Sources.Ramp L(
+    duration=1,
+    offset=0.3,
+    height=0.3)
+    "Time delay of a first order time-delayed model"
+    annotation (Placement(transformation(extent={{-60,-40},{-40,-20}})));
+equation
+  connect(kp.y, PIDGai.kp) annotation (Line(points={{-38,30},{-20,30},{-20,6},{-12,
+          6}}, color={0,0,127}));
+  connect(T.y, PIDGai.T) annotation (Line(points={{-38,0},{-12,0}},
+               color={0,0,127}));
+  connect(PIDGai.L, L.y) annotation (Line(points={{-12,-6},{-18,-6},{-18,-30},{
+          -38,-30}},
+                 color={0,0,127}));
+  annotation (
+      experiment(
+      StopTime=1.0,
+      Tolerance=1e-06),
+    __Dymola_Commands(
+      file="modelica://Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/Validation/PIDGain.mos" "Simulate and plot"),
+    Icon(
+      coordinateSystem(
+        preserveAspectRatio=false,
+        extent={{-100,-100},{100,100}}),
+      graphics={
+        Ellipse(
+          lineColor={75,138,73},
+          fillColor={255,255,255},
+          fillPattern=FillPattern.Solid,
+          extent={{-100,-100},{100,100}}),
+        Polygon(
+          lineColor={0,0,255},
+          fillColor={75,138,73},
+          pattern=LinePattern.None,
+          fillPattern=FillPattern.Solid,
+          points={{-36,60},{64,0},{-36,-60},{-36,60}})}),Diagram(
+        coordinateSystem(preserveAspectRatio=false)),
+    Documentation(revisions="<html>
+<ul>
+<li>
+June 1, 2022, by Sen Huang:<br/>
+First implementation<br/>
+</li>
+</ul>
+</html>", info="<html>
+<p>
+Validation test for the block
+<a href=\"modelica://Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.BaseClasses.PIDGain\">
+Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.BaseClasses.PIDGain</a>.
+</p>
+<p>
+The input <code>kp</code> varies from <i>1</i> to <i>2</i>, input <code>T</code> varies from <i>0.5</i> to <i>1</i>,
+and input <code>L</code> varies from <i>0.3</i> to <i>0.6</i>.
+</p>
+</html>"));
+end PIDGain;
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/Validation/PIDIntegralTime.mo b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/Validation/PIDIntegralTime.mo
new file mode 100644
index 00000000000..bbe6b359518
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/Validation/PIDIntegralTime.mo
@@ -0,0 +1,65 @@
+within Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.BaseClasses.Validation;
+model PIDIntegralTime "Test model for calculating the integral time for a PID controller"
+  Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.BaseClasses.PIDIntegralTime
+    PIDIntTim
+    "Blocks that calculates the integral time"
+    annotation (Placement(transformation(extent={{-10,-10},{10,10}})));
+  Buildings.Controls.OBC.CDL.Reals.Sources.Ramp T(
+    duration=1,
+    offset=0.5,
+    height=0.5)
+    "Time constant of a first order time-delayed model"
+    annotation (Placement(transformation(extent={{-60,10},{-40,30}})));
+  Buildings.Controls.OBC.CDL.Reals.Sources.Ramp L(
+    duration=1,
+    offset=0.3,
+    height=0.3)
+    "Time delay of a first order time-delayed model"
+    annotation (Placement(transformation(extent={{-60,-30},{-40,-10}})));
+equation
+  connect(T.y, PIDIntTim.T) annotation (Line(points={{-38,20},{-20,20},{-20,6},{
+          -12,6}}, color={0,0,127}));
+  connect(L.y, PIDIntTim.L) annotation (Line(points={{-38,-20},{-20,-20},{-20,-6},
+          {-12,-6}}, color={0,0,127}));
+  annotation (
+      experiment(
+      StopTime=1.0,
+      Tolerance=1e-06),
+    __Dymola_Commands(
+      file="modelica://Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/Validation/PIDIntegralTime.mos" "Simulate and plot"),
+    Icon(
+      coordinateSystem(
+        preserveAspectRatio=false,
+        extent={{-100,-100},{100,100}}),
+      graphics={
+        Ellipse(
+          lineColor={75,138,73},
+          fillColor={255,255,255},
+          fillPattern=FillPattern.Solid,
+          extent={{-100,-100},{100,100}}),
+        Polygon(
+          lineColor={0,0,255},
+          fillColor={75,138,73},
+          pattern=LinePattern.None,
+          fillPattern=FillPattern.Solid,
+          points={{-36,60},{64,0},{-36,-60},{-36,60}})}),Diagram(
+        coordinateSystem(preserveAspectRatio=false)),
+    Documentation(revisions="<html>
+<ul>
+<li>
+June 1, 2022, by Sen Huang:<br/>
+First implementation<br/>
+</li>
+</ul>
+</html>", info="<html>
+<p>
+Validation test for the block
+<a href=\"modelica://Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.BaseClasses.PIDIntegralTime\">
+Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.BaseClasses.PIDIntegralTime</a>.
+</p>
+<p>
+The input <code>T</code> varies from <i>0.5</i> to <i>1</i>,
+and input <code>L</code> varies from <i>0.3</i> to <i>0.6</i>.
+</p>
+</html>"));
+end PIDIntegralTime;
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/Validation/PIGain.mo b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/Validation/PIGain.mo
new file mode 100644
index 00000000000..d3ea7a755c3
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/Validation/PIGain.mo
@@ -0,0 +1,74 @@
+within Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.BaseClasses.Validation;
+model PIGain "Test model for calculating the gain for a PI controller"
+  Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.BaseClasses.PIGain
+    PIGai
+    "Blocks that calculates the gain"
+    annotation (Placement(transformation(extent={{-8,-10},{12,10}})));
+  Buildings.Controls.OBC.CDL.Reals.Sources.Ramp kp(
+    duration=1,
+    offset=1,
+    height=1)
+    "Gain of a first order time-delayed model"
+    annotation (Placement(transformation(extent={{-60,20},{-40,40}})));
+  Buildings.Controls.OBC.CDL.Reals.Sources.Ramp T(
+    duration=1,
+    offset=0.5,
+    height=0.5)
+    "Time constant of a first order time-delayed model"
+    annotation (Placement(transformation(extent={{-60,-10},{-40,10}})));
+  Buildings.Controls.OBC.CDL.Reals.Sources.Ramp L(
+    duration=1,
+    offset=0.3,
+    height=0.3)
+    "Time delay of a first order time-delayed model"
+    annotation (Placement(transformation(extent={{-60,-40},{-40,-20}})));
+equation
+  connect(L.y, PIGai.L) annotation (Line(points={{-38,-30},{-20,-30},{-20,-6},{
+          -10,-6}},
+                color={0,0,127}));
+  connect(T.y, PIGai.T) annotation (Line(points={{-38,0},{-10,0}},
+               color={0,0,127}));
+  connect(kp.y, PIGai.kp) annotation (Line(points={{-38,30},{-20,30},{-20,6},{-10,
+          6}}, color={0,0,127}));
+  annotation (
+      experiment(
+      StopTime=1.0,
+      Tolerance=1e-06),
+    __Dymola_Commands(
+      file="modelica://Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/Validation/PIGain.mos" "Simulate and plot"),
+      Icon(
+      coordinateSystem(
+        preserveAspectRatio=false,
+        extent={{-100,-100},{100,100}}),
+      graphics={
+        Ellipse(
+          lineColor={75,138,73},
+          fillColor={255,255,255},
+          fillPattern=FillPattern.Solid,
+          extent={{-100,-100},{100,100}}),
+        Polygon(
+          lineColor={0,0,255},
+          fillColor={75,138,73},
+          pattern=LinePattern.None,
+          fillPattern=FillPattern.Solid,
+          points={{-36,60},{64,0},{-36,-60},{-36,60}})}), Diagram(
+        coordinateSystem(preserveAspectRatio=false)),
+    Documentation(revisions="<html>
+<ul>
+<li>
+June 1, 2022, by Sen Huang:<br/>
+First implementation<br/>
+</li>
+</ul>
+</html>", info="<html>
+<p>
+Validation test for the block
+<a href=\"modelica://Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.BaseClasses.PIGain\">
+Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.BaseClasses.PIGain</a>.
+</p>
+<p>
+The input <code>kp</code> varies from <i>1</i> to <i>2</i>, input <code>T</code> varies from <i>0.5</i> to <i>1</i>,
+and input <code>L</code> varies from <i>0.3</i> to <i>0.6</i>.
+</p>
+</html>"));
+end PIGain;
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/Validation/PIIntegralTime.mo b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/Validation/PIIntegralTime.mo
new file mode 100644
index 00000000000..59344ff11a3
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/Validation/PIIntegralTime.mo
@@ -0,0 +1,65 @@
+within Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.BaseClasses.Validation;
+model PIIntegralTime "Test model for calculating the integral time for a PI controller"
+  Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.BaseClasses.PIIntegralTime
+    PIIntTim
+    "Block that calculates the integral time"
+    annotation (Placement(transformation(extent={{-10,-10},{10,10}})));
+  Buildings.Controls.OBC.CDL.Reals.Sources.Ramp T(
+    duration=1,
+    offset=0.5,
+    height=0.5)
+    "Time constant of a first order time-delayed model"
+    annotation (Placement(transformation(extent={{-60,10},{-40,30}})));
+  Buildings.Controls.OBC.CDL.Reals.Sources.Ramp L(
+    duration=1,
+    offset=0.3,
+    height=0.3)
+    "Time delay of a first order time-delayed model"
+    annotation (Placement(transformation(extent={{-60,-30},{-40,-10}})));
+equation
+  connect(T.y, PIIntTim.T) annotation (Line(points={{-38,20},{-20,20},{-20,6},{-12,
+          6}}, color={0,0,127}));
+  connect(L.y, PIIntTim.L) annotation (Line(points={{-38,-20},{-20,-20},{-20,-6},
+          {-12,-6}}, color={0,0,127}));
+  annotation (
+      experiment(
+      StopTime=1.0,
+      Tolerance=1e-06),
+    __Dymola_Commands(
+      file="modelica://Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/Validation/PIIntegralTime.mos" "Simulate and plot"),
+          Icon(
+      coordinateSystem(
+        preserveAspectRatio=false,
+        extent={{-100,-100},{100,100}}),
+      graphics={
+        Ellipse(
+          lineColor={75,138,73},
+          fillColor={255,255,255},
+          fillPattern=FillPattern.Solid,
+          extent={{-100,-100},{100,100}}),
+        Polygon(
+          lineColor={0,0,255},
+          fillColor={75,138,73},
+          pattern=LinePattern.None,
+          fillPattern=FillPattern.Solid,
+          points={{-36,60},{64,0},{-36,-60},{-36,60}})}), Diagram(
+        coordinateSystem(preserveAspectRatio=false)),
+    Documentation(revisions="<html>
+<ul>
+<li>
+June 1, 2022, by Sen Huang:<br/>
+First implementation<br/>
+</li>
+</ul>
+</html>", info="<html>
+<p>
+Validation test for the block
+<a href=\"modelica://Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.BaseClasses.PIIntegralTime\">
+Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.BaseClasses.PIIntegralTime</a>.
+</p>
+<p>
+The input <code>T</code> varies from <i>0.5</i> to <i>1</i>,
+and input <code>L</code> varies from <i>0.3</i> to <i>0.6</i>.
+</p>
+</html>"));
+end PIIntegralTime;
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/Validation/package.mo b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/Validation/package.mo
new file mode 100644
index 00000000000..3d2577860ee
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/Validation/package.mo
@@ -0,0 +1,32 @@
+within Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.BaseClasses;
+package Validation "Collection of validation models"
+  annotation (
+    preferredView="info",
+    Documentation(
+      info="<html>
+<p>
+This package contains models that validate the blocks in
+<a href=\"modelica://Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.BaseClasses\">
+Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.BaseClasses</a>.
+</p>
+</html>"),
+    Icon(
+      graphics={
+        Rectangle(
+          lineColor={200,200,200},
+          fillColor={248,248,248},
+          fillPattern=FillPattern.HorizontalCylinder,
+          extent={{-100.0,-100.0},{100.0,100.0}},
+          radius=25.0),
+        Rectangle(
+          lineColor={128,128,128},
+          extent={{-100.0,-100.0},{100.0,100.0}},
+          radius=25.0),
+        Polygon(
+          origin={8.0,14.0},
+          lineColor={78,138,73},
+          fillColor={78,138,73},
+          pattern=LinePattern.None,
+          fillPattern=FillPattern.Solid,
+          points={{-58.0,46.0},{42.0,-14.0},{-58.0,-74.0},{-58.0,46.0}})}));
+end Validation;
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/Validation/package.order b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/Validation/package.order
new file mode 100644
index 00000000000..9f634d6f87d
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/Validation/package.order
@@ -0,0 +1,5 @@
+PIDDerivativeTime
+PIDGain
+PIDIntegralTime
+PIGain
+PIIntegralTime
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/package.mo b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/package.mo
new file mode 100644
index 00000000000..2ea8ab34647
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/package.mo
@@ -0,0 +1,22 @@
+within Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO;
+package BaseClasses "Package with base classes"
+
+annotation (Icon(graphics={
+        Rectangle(
+          lineColor={200,200,200},
+          fillColor={248,248,248},
+          fillPattern=FillPattern.HorizontalCylinder,
+          extent={{-100,-100},{100,100}},
+          radius=25.0),
+        Ellipse(
+          extent={{-30,-32},{30,28}},
+          lineColor={128,128,128},
+          fillColor={255,255,255},
+          fillPattern=FillPattern.Solid)}), Documentation(info="<html>
+<p>
+This package contains base classes to construct blocks in
+<a href=\"modelica://Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO\">
+Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO</a>.
+</p>
+</html>"));
+end BaseClasses;
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/package.order b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/package.order
new file mode 100644
index 00000000000..78e8f68fed7
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/package.order
@@ -0,0 +1,6 @@
+PIDDerivativeTime
+PIDGain
+PIDIntegralTime
+PIGain
+PIIntegralTime
+Validation
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/PI.mo b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/PI.mo
new file mode 100644
index 00000000000..e90d5f33e9f
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/PI.mo
@@ -0,0 +1,117 @@
+within Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO;
+block PI "Identify control gain and integral time of a PI controller"
+  Buildings.Controls.OBC.CDL.Interfaces.RealInput kp(
+    final min=1E-6)
+    "Gain of a first order time-delayed model"
+    annotation (Placement(transformation(extent={{-140,40},{-100,80}}),
+        iconTransformation(extent={{-140,40},{-100,80}})));
+  Buildings.Controls.OBC.CDL.Interfaces.RealInput T(
+    final quantity="Time",
+    final unit="s",
+    min=100*Buildings.Controls.OBC.CDL.Constants.eps)
+    "Time constant of a first order time-delayed model"
+    annotation (Placement(transformation(extent={{-140,-20},{-100,20}}),
+        iconTransformation(extent={{-140,-20},{-100,20}})));
+  Buildings.Controls.OBC.CDL.Interfaces.RealInput L(
+    final quantity="Time",
+    final unit="s",
+    min=100*Buildings.Controls.OBC.CDL.Constants.eps)
+    "Time delay of a first order time-delayed model"
+    annotation (Placement(transformation(extent={{-140,-80},{-100,-40}}),
+        iconTransformation(extent={{-140,-80},{-100,-40}})));
+  Buildings.Controls.OBC.CDL.Interfaces.RealOutput k
+    "Control gain signal"
+    annotation (Placement(transformation(extent={{100,10},{140,50}}),
+        iconTransformation(extent={{100,40},{140,80}})));
+  Buildings.Controls.OBC.CDL.Interfaces.RealOutput Ti(
+    final quantity="Time",
+    final unit="s",
+    min=100*Buildings.Controls.OBC.CDL.Constants.eps)
+    "Time constant signal for the integral term"
+    annotation (Placement(transformation(extent={{100,-50},{140,-10}}),
+        iconTransformation(extent={{100,-80},{140,-40}})));
+protected
+  Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.BaseClasses.PIGain
+    gai "Block that calculates the control gain"
+    annotation (Placement(transformation(extent={{-10,20},{10,40}})));
+  Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.BaseClasses.PIIntegralTime
+    intTim "Block that calculates the integral time"
+    annotation (Placement(transformation(extent={{-10,-40},{10,-20}})));
+
+equation
+  connect(gai.k, k)
+    annotation (Line(points={{12,30},{120,30}}, color={0,0,127}));
+  connect(intTim.Ti, Ti) annotation (Line(points={{12,-30},{94,-30},{94,-30},{120,
+          -30}}, color={0,0,127}));
+  connect(intTim.T, gai.T) annotation (Line(points={{-12,-24},{-40,-24},{-40,30},
+          {-12,30}}, color={0,0,127}));
+  connect(intTim.L, gai.L) annotation (Line(points={{-12,-36},{-20,-36},{-20,24},
+          {-12,24}}, color={0,0,127}));
+  connect(T, gai.T) annotation (Line(points={{-120,0},{-40,0},{-40,30},{-12,30}},
+        color={0,0,127}));
+  connect(L, gai.L) annotation (Line(points={{-120,-60},{-20,-60},{-20,24},{-12,
+          24}}, color={0,0,127}));
+  connect(gai.kp, kp) annotation (Line(points={{-12,36},{-40,36},{-40,60},{-120,
+          60}}, color={0,0,127}));
+  annotation (defaultComponentName = "PI",
+        Icon(coordinateSystem(preserveAspectRatio=false), graphics={
+        Rectangle(
+          extent={{-100,-100},{100,100}},
+          lineColor={0,0,127},
+          fillColor={255,255,255},
+          fillPattern=FillPattern.Solid),
+        Text(
+          extent={{-100,140},{100,100}},
+          textString="%name",
+          textColor={0,0,255}),
+        Text(
+          extent={{-16,-12},{84,-52}},
+          textString="PI",
+          fillPattern=FillPattern.Solid,
+          fillColor={175,175,175}),
+        Polygon(
+          points={{12,-30},{-10,-22},{-10,-38},{12,-30}},
+          lineColor={192,192,192},
+          fillColor={192,192,192},
+          fillPattern=FillPattern.Solid),
+        Polygon(
+          points={{32,-14},{24,8},{40,8},{32,-14}},
+          lineColor={192,192,192},
+          fillColor={192,192,192},
+          fillPattern=FillPattern.Solid),
+        Line(points={{32,8},{32,44}}, color={28,108,200}),
+        Line(points={{-42,-30},{-10,-30}}, color={28,108,200}),
+        Text(
+          extent={{-18,80},{82,40}},
+          fillPattern=FillPattern.Solid,
+          fillColor={175,175,175},
+          textString="k"),
+        Text(
+          extent={{-116,-10},{-16,-50}},
+          fillPattern=FillPattern.Solid,
+          fillColor={175,175,175},
+          textString="Ti")}), Diagram(coordinateSystem(preserveAspectRatio=false)),
+    Documentation(revisions="<html>
+<ul>
+<li>
+June 1, 2022, by Sen Huang:<br/>
+First implementation<br/>
+</li>
+</ul>
+</html>", info="<html>
+<p>
+This block calculates the control gain and the integral time of a PI controller.
+</p>
+<p>Refer to the following blocks for detailed information:</p>
+<ul>
+<li>
+<a href=\"modelica://Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.BaseClasses.PIGain\">
+Buildings.Controls.OBC.Utilities.PIDWithAutotuning.SystemIdentification.AutoTuner.BaseClasses.AMIGO.PIGain</a>
+</li>
+<li>
+<a href=\"modelica://Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.BaseClasses.PIIntegralTime\">
+Buildings.Controls.OBC.Utilities.PIDWithAutotuning.SystemIdentification.AutoTuner.AMIGO.BaseClasses.PIIntegralTime</a>
+</li>
+</ul>
+</html>"));
+end PI;
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/PID.mo b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/PID.mo
new file mode 100644
index 00000000000..f5d9786fd33
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/PID.mo
@@ -0,0 +1,150 @@
+within Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO;
+block PID "Identify control gain, integral time, and derivative time of the PID model"
+  Buildings.Controls.OBC.CDL.Interfaces.RealInput kp(
+    final min=1E-6)
+    "Gain of a first order time-delayed model"
+    annotation (Placement(transformation(extent={{-140,40},{-100,80}}),
+        iconTransformation(extent={{-140,40},{-100,80}})));
+  Buildings.Controls.OBC.CDL.Interfaces.RealInput T(
+    final quantity="Time",
+    final unit="s",
+    min=100*Buildings.Controls.OBC.CDL.Constants.eps)
+    "Time constant of a first order time-delayed model"
+    annotation (Placement(transformation(extent={{-140,-20},{-100,20}}),
+        iconTransformation(extent={{-140,-20},{-100,20}})));
+  Buildings.Controls.OBC.CDL.Interfaces.RealInput L(
+    final quantity="Time",
+    final unit="s",
+    min=100*Buildings.Controls.OBC.CDL.Constants.eps)
+    "Time delay of a first order time-delayed model"
+    annotation (Placement(transformation(extent={{-140,-80},{-100,-40}}),
+        iconTransformation(extent={{-140,-80},{-100,-40}})));
+  Buildings.Controls.OBC.CDL.Interfaces.RealOutput k
+    "Control gain signal"
+    annotation (Placement(transformation(extent={{100,30},{140,70}}),
+        iconTransformation(extent={{100,50},{140,90}})));
+  Buildings.Controls.OBC.CDL.Interfaces.RealOutput Ti(
+    final quantity="Time",
+    final unit="s",
+    min=100*Buildings.Controls.OBC.CDL.Constants.eps)
+    "Time constant signal for the integral term"
+    annotation (Placement(transformation(extent={{100,-20},{140,20}})));
+  Buildings.Controls.OBC.CDL.Interfaces.RealOutput Td(
+    final quantity="Time",
+    final unit="s",
+    min=100*Buildings.Controls.OBC.CDL.Constants.eps)
+    "Time constant signal for the derivative term"
+    annotation (Placement(transformation(extent={{100,-80},{140,-40}}),
+        iconTransformation(extent={{100,-90},{140,-50}})));
+protected
+  Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.BaseClasses.PIDGain
+    gai "Block that calculates the control gain"
+    annotation (Placement(transformation(extent={{-10,40},{10,60}})));
+  Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.BaseClasses.PIDIntegralTime
+    intTim "Block that calculates the integral time"
+    annotation (Placement(transformation(extent={{-10,-10},{10,10}})));
+  Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.BaseClasses.PIDDerivativeTime
+    derTim "Block that calculates the derivative time"
+    annotation (Placement(transformation(extent={{-10,-70},{10,-50}})));
+
+equation
+  connect(derTim.Td, Td)
+    annotation (Line(points={{12,-60},{120,-60}},
+        color={0,0,127}));
+  connect(intTim.Ti, Ti)
+    annotation (Line(points={{12,0},{120,0}}, color={0,0,127}));
+  connect(gai.k, k) annotation (Line(points={{12,50},{120,50}},
+        color={0,0,127}));
+  connect(intTim.T, gai.T) annotation (Line(points={{-12,6},{-40,6},{-40,50},{-12,
+          50}}, color={0,0,127}));
+  connect(derTim.T, gai.T) annotation (Line(points={{-12,-54},{-40,-54},{-40,50},
+          {-12,50}}, color={0,0,127}));
+  connect(intTim.L, gai.L) annotation (Line(points={{-12,-6},{-26,-6},{-26,44},
+          {-12,44}}, color={0,0,127}));
+  connect(derTim.L, gai.L) annotation (Line(points={{-12,-66},{-26,-66},{-26,44},
+          {-12,44}}, color={0,0,127}));
+  connect(kp, gai.kp) annotation (Line(points={{-120,60},{-20,60},{-20,56},{-12,
+          56}}, color={0,0,127}));
+  connect(T, gai.T) annotation (Line(points={{-120,0},{-80,0},{-80,6},{-40,6},{
+          -40,50},{-12,50}}, color={0,0,127}));
+  connect(L, gai.L) annotation (Line(points={{-120,-60},{-26,-60},{-26,44},{-12,
+          44}}, color={0,0,127}));
+  annotation (defaultComponentName = "PID",
+        Icon(coordinateSystem(preserveAspectRatio=false), graphics={
+        Rectangle(
+          extent={{-100,-100},{100,100}},
+          lineColor={0,0,127},
+          fillColor={255,255,255},
+          fillPattern=FillPattern.Solid),
+        Text(
+          extent={{-154,148},{146,108}},
+          textString="%name",
+          textColor={0,0,255}),
+        Text(
+          extent={{-16,20},{84,-20}},
+          fillPattern=FillPattern.Solid,
+          fillColor={175,175,175},
+          textString="PID"),
+        Polygon(
+          points={{32,22},{24,44},{40,44},{32,22}},
+          lineColor={192,192,192},
+          fillColor={192,192,192},
+          fillPattern=FillPattern.Solid),
+        Polygon(
+          points={{0,2},{-22,10},{-22,-6},{0,2}},
+          lineColor={192,192,192},
+          fillColor={192,192,192},
+          fillPattern=FillPattern.Solid),
+        Line(points={{32,44},{32,68}}, color={28,108,200}),
+        Polygon(
+          points={{32,-22},{24,-44},{40,-44},{32,-22}},
+          lineColor={192,192,192},
+          fillColor={192,192,192},
+          fillPattern=FillPattern.Solid),
+        Line(points={{-22,2},{-48,2}}, color={28,108,200}),
+        Line(points={{32,-44},{32,-62}}, color={28,108,200}),
+        Text(
+          extent={{-16,102},{84,62}},
+          textColor={0,0,0},
+          fillPattern=FillPattern.Solid,
+          fillColor={175,175,175},
+          textString="k"),
+        Text(
+          extent={{-116,26},{-16,-14}},
+          fillPattern=FillPattern.Solid,
+          fillColor={175,175,175},
+          textString="Ti"),
+        Text(
+          extent={{-18,-62},{82,-102}},
+          fillPattern=FillPattern.Solid,
+          fillColor={175,175,175},
+          textString="Td")}), Diagram(coordinateSystem(preserveAspectRatio=false)),
+    Documentation(revisions="<html>
+<ul>
+<li>
+June 1, 2022, by Sen Huang:<br/>
+First implementation<br/>
+</li>
+</ul>
+</html>", info="<html>
+<p>
+This block calculates the control gain, the integral time, and the
+derivative time of a PID model.
+</p>
+<p>Refer to the following blocks for detailed information:</p>
+<ul>
+<li>
+<a href=\"modelica://Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.BaseClasses.PIDGain\">
+Buildings.Controls.OBC.Utilities.PIDWithAutotuning.SystemIdentification.AutoTuner.AMIGO.BaseClasses.PIDGain</a>
+</li>
+<li>
+<a href=\"modelica://Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.BaseClasses.PIDIntegralTime\">
+Buildings.Controls.OBC.Utilities.PIDWithAutotuning.SystemIdentification.AutoTuner.AMIGO.BaseClasses.PIDIntegralTime</a>
+</li>
+<li>
+<a href=\"modelica://Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.BaseClasses.PIDDerivativeTime\">
+Buildings.Controls.OBC.Utilities.PIDWithAutotuning.SystemIdentification.AutoTuner.AMIGO.BaseClasses.PIDDerivativeTime</a>
+</li>
+</ul>
+</html>"));
+end PID;
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/Validation/PI.mo b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/Validation/PI.mo
new file mode 100644
index 00000000000..b3f7c517942
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/Validation/PI.mo
@@ -0,0 +1,81 @@
+within Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.Validation;
+model PI "Test model for calculating parameters of a PI controller"
+  Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.PI PI
+    "Blocks that calculates the control gain and the integral time"
+    annotation (Placement(transformation(extent={{-10,-10},{10,10}})));
+  Buildings.Controls.OBC.CDL.Reals.Sources.Ramp kp(
+    duration=1,
+    offset=1,
+    height=1)
+    "Gain of a first order time-delayed model"
+    annotation (Placement(transformation(extent={{-60,22},{-40,42}})));
+  Buildings.Controls.OBC.CDL.Reals.Sources.Ramp T(
+    duration=1,
+    offset=0.5,
+    height=0.5)
+    "Time constant of a first order time-delayed model"
+    annotation (Placement(transformation(extent={{-60,-20},{-40,0}})));
+  Buildings.Controls.OBC.CDL.Reals.Sources.Ramp L(
+    duration=1,
+    offset=0.3,
+    height=0.3)
+    "Time delay of a first order time-delayed model"
+    annotation (Placement(transformation(extent={{-60,-60},{-40,-40}})));
+equation
+  connect(L.y, PI.L) annotation (Line(points={{-38,-50},{-20,-50},{-20,-6},{-12,
+          -6}}, color={0,0,127}));
+  connect(T.y, PI.T) annotation (Line(points={{-38,-10},{-26,-10},{-26,0},{-12,0}},
+        color={0,0,127}));
+  connect(kp.y, PI.kp) annotation (Line(points={{-38,32},{-20,32},{-20,6},{-12,6}},
+        color={0,0,127}));
+  annotation (
+      experiment(
+      StopTime=1.0,
+      Tolerance=1e-06),
+    __Dymola_Commands(
+      file="modelica://Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/Validation/PI.mos" "Simulate and plot"),
+    Icon(
+      coordinateSystem(
+        preserveAspectRatio=false,
+        extent={{-100,-100},{100,100}}),
+      graphics={
+        Ellipse(
+          lineColor={75,138,73},
+          fillColor={255,255,255},
+          fillPattern=FillPattern.Solid,
+          extent={{-100,-100},{100,100}}),
+        Polygon(
+          lineColor={0,0,255},
+          fillColor={75,138,73},
+          pattern=LinePattern.None,
+          fillPattern=FillPattern.Solid,
+          points={{-36,60},{64,0},{-36,-60},{-36,60}})}), Diagram(
+        coordinateSystem(preserveAspectRatio=false)),
+    Documentation(revisions="<html>
+<ul>
+<li>
+June 1, 2022, by Sen Huang:<br/>
+First implementation<br/>
+</li>
+</ul>
+</html>", info="<html>
+<p>
+Validation test for the block
+<a href=\"modelica://Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.PI\">
+Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.PI</a>.
+</p>
+<p>
+The input <code>kp</code> varies from <i>1</i> to <i>2</i>, input <code>T</code> varies from <i>0.5</i> to <i>1</i>,
+and input <code>L</code> varies from <i>0.3</i> to <i>0.6</i>.
+</p>
+<p>
+The control gain and
+the time constant of the integral term are calculated based on the equations shown in
+<a href=\"modelica://Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.BaseClasses.PIGain\">
+Buildings.Controls.OBC.Utilities.PIDWithAutotuning.SystemIdentification.AutoTuner.BaseClasses.AMIGO.PIGain</a>
+and
+<a href=\"modelica://Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.BaseClasses.PIIntegralTime\">
+Buildings.Controls.OBC.Utilities.PIDWithAutotuning.SystemIdentification.AutoTuner.AMIGO.BaseClasses.PIIntegralTime</a>.
+</p>
+</html>"));
+end PI;
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/Validation/PID.mo b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/Validation/PID.mo
new file mode 100644
index 00000000000..f623dfbf5a7
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/Validation/PID.mo
@@ -0,0 +1,84 @@
+within Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.Validation;
+model PID "Test model for calculating parameters of a PID controller"
+  Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.PID PID
+    "Block that calculates the control gain, the integral time, and the derivative time"
+    annotation (Placement(transformation(extent={{-10,-10},{10,10}})));
+  Buildings.Controls.OBC.CDL.Reals.Sources.Ramp kp(
+    duration=1,
+    offset=1,
+    height=1)
+    "Gain of a first order time-delayed model"
+    annotation (Placement(transformation(extent={{-60,20},{-40,40}})));
+  Buildings.Controls.OBC.CDL.Reals.Sources.Ramp T(
+    duration=1,
+    offset=0.5,
+    height=0.5)
+    "Time constant of a first order time-delayed model"
+    annotation (Placement(transformation(extent={{-60,-20},{-40,0}})));
+  Buildings.Controls.OBC.CDL.Reals.Sources.Ramp L(
+    duration=1,
+    offset=0.3,
+    height=0.3)
+    "Time delay of a first order time-delayed model"
+    annotation (Placement(transformation(extent={{-60,-60},{-40,-40}})));
+equation
+  connect(kp.y, PID.kp) annotation (Line(points={{-38,30},{-20,30},{-20,6},{-12,
+          6}}, color={0,0,127}));
+  connect(T.y, PID.T) annotation (Line(points={{-38,-10},{-20,-10},{-20,0},{-12,
+          0}}, color={0,0,127}));
+  connect(PID.L, L.y) annotation (Line(points={{-12,-6},{-16,-6},{-16,-50},{-38,
+          -50}}, color={0,0,127}));
+  annotation (
+      experiment(
+      StopTime=1.0,
+      Tolerance=1e-06),
+    __Dymola_Commands(
+      file="modelica://Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/Validation/PID.mos" "Simulate and plot"),
+    Icon(
+      coordinateSystem(
+        preserveAspectRatio=false,
+        extent={{-100,-100},{100,100}}),
+      graphics={
+        Ellipse(
+          lineColor={75,138,73},
+          fillColor={255,255,255},
+          fillPattern=FillPattern.Solid,
+          extent={{-100,-100},{100,100}}),
+        Polygon(
+          lineColor={0,0,255},
+          fillColor={75,138,73},
+          pattern=LinePattern.None,
+          fillPattern=FillPattern.Solid,
+          points={{-36,60},{64,0},{-36,-60},{-36,60}})}),Diagram(
+        coordinateSystem(preserveAspectRatio=false)),
+    Documentation(revisions="<html>
+<ul>
+<li>
+June 1, 2022, by Sen Huang:<br/>
+First implementation<br/>
+</li>
+</ul>
+</html>", info="<html>
+<p>
+Validation test for the block
+<a href=\"modelica://Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.PID\">
+Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.PID</a>.
+</p>
+<p>
+The input <code>kp</code> varies from <i>1</i> to <i>2</i>, input <code>T</code> varies from <i>0.5</i> to <i>1</i>,
+and input <code>L</code> varies from <i>0.3</i> to <i>0.6</i>.
+</p>
+<p>
+The control gain,
+time constant of the integral term and time constant of the derivative term are calculated
+based on the equations shown in
+<a href=\"modelica://Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.BaseClasses.PIDGain\">
+Buildings.Controls.OBC.Utilities.PIDWithAutotuning.SystemIdentification.AutoTuner.BaseClasses.AMIGO.PIDGain</a>,
+<a href=\"modelica://Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.BaseClasses.PIDIntegralTime\">
+Buildings.Controls.OBC.Utilities.PIDWithAutotuning.SystemIdentification.AutoTuner.AMIGO.BaseClasses.PIDIntegralTime</a>,
+and
+<a href=\"modelica://Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.BaseClasses.PIDDerivativeTime\">
+Buildings.Controls.OBC.Utilities.PIDWithAutotuning.SystemIdentification.AutoTuner.AMIGO.BaseClasses.PIDDerivativeTime</a>.
+</p>
+</html>"));
+end PID;
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/Validation/package.mo b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/Validation/package.mo
new file mode 100644
index 00000000000..a782badd55b
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/Validation/package.mo
@@ -0,0 +1,32 @@
+within Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO;
+package Validation "Collection of models that validate the blocks in the AutoTuner"
+  annotation (
+    preferredView="info",
+    Documentation(
+      info="<html>
+<p>
+This package contains models that validate the blocks in
+<a href=\"modelica://Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO\">
+Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO</a>.
+</p>
+</html>"),
+    Icon(
+      graphics={
+        Rectangle(
+          lineColor={200,200,200},
+          fillColor={248,248,248},
+          fillPattern=FillPattern.HorizontalCylinder,
+          extent={{-100.0,-100.0},{100.0,100.0}},
+          radius=25.0),
+        Rectangle(
+          lineColor={128,128,128},
+          extent={{-100.0,-100.0},{100.0,100.0}},
+          radius=25.0),
+        Polygon(
+          origin={8.0,14.0},
+          lineColor={78,138,73},
+          fillColor={78,138,73},
+          pattern=LinePattern.None,
+          fillPattern=FillPattern.Solid,
+          points={{-58.0,46.0},{42.0,-14.0},{-58.0,-74.0},{-58.0,46.0}})}));
+end Validation;
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/Validation/package.order b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/Validation/package.order
new file mode 100644
index 00000000000..d2760571513
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/Validation/package.order
@@ -0,0 +1,2 @@
+PI
+PID
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/package.mo b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/package.mo
new file mode 100644
index 00000000000..472fdec88a7
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/package.mo
@@ -0,0 +1,56 @@
+within Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner;
+package AMIGO "Package with components related to AMIGO tuners"
+annotation (Documentation(info="<html>
+<p>
+This package contains the blocks to implement an AMIGO (approximate M-constrained integral gain optimization) tuner. 
+The AMIGO tuner calculates the parameters of PI/PID controllers based on the parameters of reduced order models.
+Those reduced order models approximate the control process.
+</p>
+<h4>References</h4>
+<p>
+Garpinger, Olof, Tore Hägglund, and Karl Johan Åström (2014)
+\"Performance and robustness trade-offs in PID control.\"
+Journal of Process Control 24.5 (2014): 568-577.
+</p>
+<p>
+Åström, Karl Johan and Tore Hägglund  (2004)
+\"Revisiting the Ziegler–Nichols step response method for PID control.\"
+Journal of process control 14.6 (2004): 635-650.
+</p>
+</html>"),
+    Icon(
+      graphics={
+        Rectangle(
+          lineColor={200,200,200},
+          fillColor={248,248,248},
+          fillPattern=FillPattern.HorizontalCylinder,
+          extent={{-100.0,-100.0},{100.0,100.0}},
+          radius=25.0),
+        Rectangle(
+          lineColor={128,128,128},
+          extent={{-100.0,-100.0},{100.0,100.0}},
+          radius=25.0),
+        Ellipse(
+          origin={10.0,10.0},
+          fillColor={76,76,76},
+          pattern=LinePattern.None,
+          fillPattern=FillPattern.Solid,
+          extent={{-80.0,-80.0},{-20.0,-20.0}}),
+        Ellipse(
+          origin={10.0,10.0},
+          pattern=LinePattern.None,
+          fillPattern=FillPattern.Solid,
+          extent={{0.0,-80.0},{60.0,-20.0}}),
+        Ellipse(
+          origin={10.0,10.0},
+          fillColor={128,128,128},
+          pattern=LinePattern.None,
+          fillPattern=FillPattern.Solid,
+          extent={{0.0,0.0},{60.0,60.0}}),
+        Ellipse(
+          origin={10.0,10.0},
+          lineColor={128,128,128},
+          fillColor={255,255,255},
+          fillPattern=FillPattern.Solid,
+          extent={{-80.0,0.0},{-20.0,60.0}})}));
+end AMIGO;
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/package.order b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/package.order
new file mode 100644
index 00000000000..f1b640e9dd7
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/package.order
@@ -0,0 +1,4 @@
+PI
+PID
+Validation
+BaseClasses
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/package.mo b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/package.mo
new file mode 100644
index 00000000000..870fa8ecf9b
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/package.mo
@@ -0,0 +1,43 @@
+within Buildings.Controls.OBC.Utilities.PIDWithAutotuning;
+package AutoTuner "Package with blocks for PID autotuners"
+annotation (Documentation(info="<html>
+<p>
+This package contains blocks for calculating the PID gains based on identified system models of the control process.
+</p>
+</html>"),
+    Icon(
+      graphics={
+        Rectangle(
+          lineColor={200,200,200},
+          fillColor={248,248,248},
+          fillPattern=FillPattern.HorizontalCylinder,
+          extent={{-100.0,-100.0},{100.0,100.0}},
+          radius=25.0),
+        Rectangle(
+          lineColor={128,128,128},
+          extent={{-100.0,-100.0},{100.0,100.0}},
+          radius=25.0),
+        Ellipse(
+          origin={10.0,10.0},
+          fillColor={76,76,76},
+          pattern=LinePattern.None,
+          fillPattern=FillPattern.Solid,
+          extent={{-80.0,-80.0},{-20.0,-20.0}}),
+        Ellipse(
+          origin={10.0,10.0},
+          pattern=LinePattern.None,
+          fillPattern=FillPattern.Solid,
+          extent={{0.0,-80.0},{60.0,-20.0}}),
+        Ellipse(
+          origin={10.0,10.0},
+          fillColor={128,128,128},
+          pattern=LinePattern.None,
+          fillPattern=FillPattern.Solid,
+          extent={{0.0,0.0},{60.0,60.0}}),
+        Ellipse(
+          origin={10.0,10.0},
+          lineColor={128,128,128},
+          fillColor={255,255,255},
+          fillPattern=FillPattern.Solid,
+          extent={{-80.0,0.0},{-20.0,60.0}})}));
+end AutoTuner;
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/package.order b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/package.order
new file mode 100644
index 00000000000..72305503185
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/package.order
@@ -0,0 +1 @@
+AMIGO
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/FirstOrderAMIGO.mo b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/FirstOrderAMIGO.mo
new file mode 100644
index 00000000000..091e438053f
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/FirstOrderAMIGO.mo
@@ -0,0 +1,583 @@
+within Buildings.Controls.OBC.Utilities.PIDWithAutotuning;
+block FirstOrderAMIGO
+  "Autotuning PID controller with an AMIGO tuner that employs a first-order time delayed system model"
+
+  parameter Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Types.SimpleController controllerType=
+    Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Types.SimpleController.PI
+    "Type of controller";
+  parameter Real k_start(
+    min=100*Buildings.Controls.OBC.CDL.Constants.eps)=1
+    "Start value of the gain of controller"
+    annotation (Dialog(group="Initial control gains, used prior to first tuning"));
+  parameter Real Ti_start(unit="s")=0.5
+    "Start value of the time constant of integrator block"
+    annotation (Dialog(group="Initial control gains, used prior to first tuning"));
+  parameter Real Td_start(unit="s")=0.1
+    "Start value of the time constant of derivative block"
+    annotation (Dialog(group="Initial control gains, used prior to first tuning",
+      enable=controllerType == Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Types.SimpleController.PID));
+  parameter Real u_s_start
+    "Start value of the set point"
+    annotation (Dialog(tab="Advanced",group="Initialization"));
+  parameter Real r(
+    min=100*Buildings.Controls.OBC.CDL.Constants.eps)=1
+    "Typical range of control error, used for scaling the control error";
+  parameter Real yHig(
+     final min = 0,
+     final max = 1) = 1
+    "Higher value for the relay output";
+  parameter Real yLow(
+     final min = 0,
+     final max = 1)
+    "Lower value for the relay output";
+  parameter Real deaBan(
+    final min=1E-6)
+    "Deadband for holding the relay output";
+  parameter Real yRef
+    "Reference output for the tuning process. It should be greater than the lower and less than the higher value of the relay output";
+  parameter Real yMax = 1
+    "Upper limit of output"
+    annotation (Dialog(group="Limits"));
+  parameter Real yMin = 0
+    "Lower limit of output"
+    annotation (Dialog(group="Limits"));
+  parameter Real Ni(
+    min=100*Buildings.Controls.OBC.CDL.Constants.eps)=0.9
+    "Ni*Ti is time constant of anti-windup compensation"
+    annotation (Dialog(tab="Advanced",group="Integrator anti-windup"));
+  parameter Real Nd(
+    min=100*Buildings.Controls.OBC.CDL.Constants.eps)=10
+    "The higher the Nd, the more ideal the derivative block"
+    annotation (Dialog(tab="Advanced",group="Derivative block",
+      enable=controllerType ==Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Types.SimpleController.PID));
+  parameter Real xi_start=0
+    "Initial value of integrator state"
+    annotation (Dialog(tab="Advanced",group="Initialization"));
+  parameter Real yd_start=0
+    "Initial value of derivative output"
+    annotation (Dialog(tab="Advanced",group="Initialization",
+      enable=controllerType == Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Types.SimpleController.PID));
+  parameter Boolean reverseActing=true
+    "Set to true for reverse acting, or false for direct acting control action";
+  parameter Real y_reset=xi_start
+    "Value to which the controller output is reset if the boolean trigger has a rising edge"
+    annotation (Dialog(group="Integrator reset"));
+  parameter Real setHys = 0.05*r
+    "Hysteresis for checking set point";
+  Buildings.Controls.OBC.CDL.Interfaces.RealInput u_s
+    "Connector of setpoint input signal"
+    annotation (Placement(transformation(extent={{-320,-180},{-280,-140}}),
+      iconTransformation(extent={{-140,-20},{-100,20}})));
+  Buildings.Controls.OBC.CDL.Interfaces.RealInput u_m
+    "Connector of measurement input signal"
+    annotation (Placement(transformation(origin={0,-300},  extent={{20,-20},{-20,20}},rotation=270),
+        iconTransformation(extent={{20,-20},{-20,20}},rotation=270,origin={0,-120})));
+  Buildings.Controls.OBC.CDL.Interfaces.BooleanInput triRes
+    "Connector for resetting the controller output"
+    annotation (Placement(transformation(extent={{-20,-20},{20,20}},rotation=90,origin={-60,-300}),
+        iconTransformation(extent={{-20,-20},{20,20}},rotation=90,origin={-60,-120})));
+  Buildings.Controls.OBC.CDL.Interfaces.BooleanInput triTun
+    "Connector for starting the autotuning"
+    annotation (Placement(transformation(extent={{-20,-20},{20,20}},rotation=90,origin={40,-300}),
+        iconTransformation(extent={{-20,-20},{20,20}},rotation=90,origin={60,-120})));
+  Buildings.Controls.OBC.CDL.Interfaces.RealOutput y
+    "Connector for actuator output signal"
+    annotation (Placement(transformation(extent={{280,-220},{320,-180}}),
+      iconTransformation(extent={{100,-20},{140,20}})));
+  Buildings.Controls.OBC.CDL.Reals.Sources.CivilTime modTim
+    "Simulation time"
+    annotation (Placement(transformation(extent={{-240,-10},{-220,10}})));
+  Buildings.Controls.OBC.Utilities.PIDWithInputGains con(
+    final controllerType=conTyp,
+    final r=r,
+    final yMax=yMax,
+    final yMin=yMin,
+    final Ni=Ni,
+    final Nd= Nd,
+    final xi_start=xi_start,
+    final yd_start=yd_start,
+    final reverseActing=reverseActing,
+    final y_reset=xi_start)
+    "PI or P controller with the gains as inputs"
+    annotation (Placement(transformation(extent={{-50,-230},{-30,-210}})));
+  Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.PID PIDPar
+    if with_D "Autotuner of gains for a PID controller"
+    annotation (Placement(transformation(extent={{160,-50},{180,-30}})));
+  Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.PI PIPar
+    if not with_D "Autotuner of gains for a PI controller"
+    annotation (Placement(transformation(extent={{160,0},{180,20}})));
+  Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.Controller rel(
+    final r=r,
+    final yHig=yHig,
+    final yLow=yLow,
+    final deaBan=deaBan,
+    final reverseActing=reverseActing)
+    "Relay controller"
+    annotation (Placement(transformation(extent={{-80,-40},{-60,-20}})));
+  Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.ResponseProcess resPro(
+    final yHig=yHig - yRef,
+    final yLow=yRef - yLow)
+    "Identify the on and off period length, the half period ratio, 
+    and the moments when the tuning starts and ends"
+    annotation (Placement(transformation(extent={{-20,-60},{0,-40}})));
+  Buildings.Controls.OBC.CDL.Reals.Switch swi
+    "Switch between a PID controller and a relay controller"
+    annotation (Placement(transformation(extent={{240,-210},{260,-190}})));
+  Buildings.Controls.OBC.CDL.Discrete.TriggeredSampler samk(
+    final y_start=k_start) "Recording the proportional control gain"
+    annotation (Placement(transformation(extent={{-140,-190},{-120,-210}})));
+  Buildings.Controls.OBC.CDL.Discrete.TriggeredSampler samTi(
+    final y_start=Ti_start)
+    "Recording the integral time"
+    annotation (Placement(transformation(extent={{-190,-220},{-170,-240}})));
+  Buildings.Controls.OBC.CDL.Discrete.TriggeredSampler samTd(
+    final y_start=Td_start) if with_D
+    "Recording the derivative time"
+    annotation (Placement(transformation(extent={{-240,-250},{-220,-270}})));
+  Buildings.Controls.OBC.Utilities.PIDWithAutotuning.SystemIdentification.FirstOrderTimedelayed.ControlProcessModel
+    conProMod(
+    final yHig=yHig - yRef,
+    final yLow=yRef - yLow,
+    final deaBan=deaBan)
+    "Calculates the parameters of a first-order time delayed model"
+    annotation (Placement(transformation(extent={{60,0},{80,20}})));
+  Buildings.Controls.OBC.CDL.Logical.Latch inTunPro
+    "Outputs true if the controller is conducting the autotuning process"
+    annotation (Placement(transformation(extent={{60,-150},{80,-130}})));
+  Buildings.Controls.OBC.CDL.Logical.FallingEdge falEdg
+    "Check if the setpoint changes during an autotuning process"
+    annotation (Placement(transformation(extent={{-220,40},{-200,60}})));
+  Buildings.Controls.OBC.CDL.Logical.Or or2
+    "Check if the autotuning is completed or aborted"
+    annotation (Placement(transformation(extent={{-180,40},{-160,60}})));
+
+protected
+  final parameter Boolean with_D=controllerType == Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Types.SimpleController.PID
+    "Boolean flag to enable derivative action"
+    annotation (Evaluate=true,HideResult=true);
+  final parameter Buildings.Controls.OBC.CDL.Types.SimpleController conTyp=
+    if controllerType==Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Types.SimpleController.PI
+      then Buildings.Controls.OBC.CDL.Types.SimpleController.PI
+      else Buildings.Controls.OBC.CDL.Types.SimpleController.PID
+    "Type of controller";
+  Buildings.Controls.OBC.CDL.Utilities.Assert assMes2(
+    message="*** Warning: the relay output needs to be asymmetric. Check the value of yHig, yLow and yRef.")
+    "Warning message when the relay output is symmetric"
+    annotation (Placement(transformation(extent={{160,210},{180,230}})));
+  Buildings.Controls.OBC.CDL.Reals.Sources.Constant con1(final k=yHig)
+    "Higher value for the relay output"
+    annotation (Placement(transformation(extent={{-160,250},{-140,270}})));
+  Buildings.Controls.OBC.CDL.Reals.Sources.Constant con2(final k=yRef)
+    "Reference value for the relay output"
+    annotation (Placement(transformation(extent={{-160,200},{-140,220}})));
+  Buildings.Controls.OBC.CDL.Reals.Sources.Constant con3(final k=yLow)
+    "Lower value for the relay output"
+    annotation (Placement(transformation(extent={{-160,170},{-140,190}})));
+  Buildings.Controls.OBC.CDL.Reals.Subtract sub
+    "Difference between the higher value and the reference value of the relay output"
+    annotation (Placement(transformation(extent={{-80,230},{-60,250}})));
+  Buildings.Controls.OBC.CDL.Reals.Subtract sub1
+    "Difference between the reference value and the lower value of the relay output"
+    annotation (Placement(transformation(extent={{-80,190},{-60,210}})));
+  Buildings.Controls.OBC.CDL.Reals.Subtract sub2
+    "Symmetricity level of the relay output"
+    annotation (Placement(transformation(extent={{0,210},{20,230}})));
+  Buildings.Controls.OBC.CDL.Reals.Abs abs1
+    "Absolute value"
+    annotation (Placement(transformation(extent={{40,210},{60,230}})));
+  Buildings.Controls.OBC.CDL.Reals.Greater gre
+    "Check if the relay output is asymmetric"
+    annotation (Placement(transformation(extent={{100,210},{120,230}})));
+  Buildings.Controls.OBC.CDL.Reals.Sources.Constant con4(final k=1e-3)
+    "Threshold for checking if the input is larger than 0"
+    annotation (Placement(transformation(extent={{40,170},{60,190}})));
+  Buildings.Controls.OBC.CDL.Reals.MultiplyByParameter yRel(
+    final k=yMax - yMin)
+    "Relay output multiplied by the possible range of the output"
+    annotation (Placement(transformation(extent={{0,50},{20,70}})));
+  Buildings.Controls.OBC.CDL.Logical.Nand nand
+    "Check if an autotuning is ongoing while a new autotuning request is received"
+    annotation (Placement(transformation(extent={{200,-150},{220,-130}})));
+  Buildings.Controls.OBC.CDL.Utilities.Assert assMes1(
+    message="*** Warning: An autotuning is ongoing and the new tuning request is ignored.")
+    "Warning message when an autotuning tuning is ongoing while a new autotuning request is received"
+    annotation (Placement(transformation(extent={{242,-150},{262,-130}})));
+  Buildings.Controls.OBC.CDL.Logical.Edge edgReq
+    "True only when a new request is received"
+    annotation (Placement(transformation(extent={{120,-250},{140,-230}})));
+  Buildings.Controls.OBC.CDL.Logical.TrueDelay tunStaDel(
+    final delayTime=0.001)
+    "A small time delay for the autotuning start time to avoid false alerts"
+    annotation (Placement(transformation(extent={{140,-150},{160,-130}})));
+  Buildings.Controls.OBC.CDL.Reals.AddParameter addPar(
+    final p=yMin)
+    "Sums the inputs"
+    annotation (Placement(transformation(extent={{80,50},{100,70}})));
+  Buildings.Controls.OBC.CDL.Discrete.TriggeredSampler sam_u_s(
+    final y_start=u_s_start)
+    "Recording the setpoint"
+    annotation (Placement(transformation(extent={{-140,120},{-120,140}})));
+  Buildings.Controls.OBC.CDL.Logical.Nand nand1
+    "Check if an autotuning is ongoing while the setpoint changes"
+    annotation (Placement(transformation(extent={{80,100},{100,120}})));
+  Buildings.Controls.OBC.CDL.Reals.Subtract sub3
+    "Change of the setpoint"
+    annotation (Placement(transformation(extent={{-80,100},{-60,120}})));
+  Buildings.Controls.OBC.CDL.Reals.Abs abs2
+    "Absolute value of the setpoint change"
+    annotation (Placement(transformation(extent={{-40,100},{-20,120}})));
+  Buildings.Controls.OBC.CDL.Reals.GreaterThreshold greThr(
+    final t=setHys,
+    final h=0.5*setHys)
+    "Check if the setpoint changes"
+    annotation (Placement(transformation(extent={{0,100},{20,120}})));
+  Buildings.Controls.OBC.CDL.Utilities.Assert assMes3(message=
+    "In " + getInstanceName()
+    + ": the setpoint must not change when an autotuning tuning is ongoing. This ongoing autotuning will thus abort.")
+    "Warning message when the setpoint changes during tuning process"
+    annotation (Placement(transformation(extent={{160,100},{180,120}})));
+
+equation
+  connect(con.u_s, u_s) annotation (Line(points={{-52,-220},{-80,-220},{-80,-160},
+          {-300,-160}}, color={0,0,127}));
+  connect(con.trigger, triRes) annotation (Line(points={{-46,-232},{-46,-266},{-60,
+          -266},{-60,-300}}, color={255,0,255}));
+  connect(samk.y,con. k) annotation (Line(points={{-118,-200},{-100,-200},{-100,
+          -212},{-52,-212}}, color={0,0,127}));
+  connect(con.Ti, samTi.y) annotation (Line(points={{-52,-216},{-100,-216},{-100,
+          -230},{-168,-230}}, color={0,0,127}));
+  connect(samTd.y,con. Td) annotation (Line(points={{-218,-260},{-80,-260},{-80,
+          -224},{-52,-224}}, color={0,0,127}));
+  connect(resPro.on, rel.yOn) annotation (Line(points={{-22,-50},{-40,-50},{-40,
+          -36},{-58,-36}}, color={255,0,255}));
+  connect(modTim.y, resPro.tim) annotation (Line(points={{-218,0},{-30,0},{-30,-44},
+          {-22,-44}}, color={0,0,127}));
+  connect(resPro.tau, conProMod.tau) annotation (Line(points={{2,-50},{30,-50},{
+          30,2},{58,2}}, color={0,0,127}));
+  connect(conProMod.tOff, resPro.tOff) annotation (Line(points={{58,6},{20,6},{20,
+          -46},{2,-46}}, color={0,0,127}));
+  connect(resPro.tOn, conProMod.tOn) annotation (Line(points={{2,-42},{10,-42},{
+          10,14},{58,14}}, color={0,0,127}));
+  connect(rel.yDif, conProMod.u) annotation (Line(points={{-58,-30},{-20,-30},{-20,
+          18},{58,18}}, color={0,0,127}));
+  connect(PIDPar.kp, conProMod.k) annotation (Line(points={{158,-34},{120,-34},{
+          120,18},{82,18}}, color={0,0,127}));
+  connect(PIDPar.T, conProMod.T) annotation (Line(points={{158,-40},{110,-40},{110,
+          14},{82,14}}, color={0,0,127}));
+  connect(PIDPar.L, conProMod.L) annotation (Line(points={{158,-46},{100,-46},{100,
+          6},{82,6}}, color={0,0,127}));
+  connect(PIDPar.Ti, samTi.u) annotation (Line(points={{182,-40},{240,-40},{240,
+          -110},{-210,-110},{-210,-230},{-192,-230}}, color={0,0,127}));
+  connect(PIPar.kp, conProMod.k) annotation (Line(points={{158,16},{120,16},{120,
+          18},{82,18}}, color={0,0,127}));
+  connect(PIPar.T, conProMod.T) annotation (Line(points={{158,10},{110,10},{110,
+          14},{82,14}}, color={0,0,127}));
+  connect(PIPar.L, conProMod.L) annotation (Line(points={{158,4},{100,4},{100,6},
+          {82,6}}, color={0,0,127}));
+  connect(PIPar.k, samk.u) annotation (Line(points={{182,16},{230,16},{230,-80},
+          {-160,-80},{-160,-200},{-142,-200}}, color={0,0,127}));
+  connect(PIPar.Ti, samTi.u) annotation (Line(points={{182,4},{240,4},{240,-110},
+          {-210,-110},{-210,-230},{-192,-230}}, color={0,0,127}));
+  connect(resPro.triSta, conProMod.triSta) annotation (Line(points={{2,-54},{64,
+          -54},{64,-2}}, color={255,0,255}));
+  connect(swi.y, y) annotation (Line(points={{262,-200},{300,-200}}, color={0,0,127}));
+  connect(u_m,con. u_m) annotation (Line(points={{0,-300},{0,-240},{-40,-240},{-40,
+          -232}},color={0,0,127}));
+  connect(swi.u3,con. y) annotation (Line(points={{238,-208},{80,-208},{80,-220},
+          {-28,-220}}, color={0,0,127}));
+  connect(inTunPro.y, swi.u2) annotation (Line(points={{82,-140},{120,-140},{120,
+          -200},{238,-200}}, color={255,0,255}));
+  connect(inTunPro.u, triTun) annotation (Line(points={{58,-140},{40,-140},{40,-300}},
+          color={255,0,255}));
+  connect(rel.trigger, triTun) annotation (Line(points={{-76,-42},{-76,-140},{40,
+          -140},{40,-300}}, color={255,0,255}));
+  connect(resPro.trigger, triTun) annotation (Line(points={{-22,-56},{-40,-56},{
+          -40,-140},{40,-140},{40,-300}}, color={255,0,255}));
+  connect(nand.y, assMes1.u)
+    annotation (Line(points={{222,-140},{240,-140}}, color={255,0,255}));
+  connect(nand.u2, edgReq.y)
+    annotation (Line(points={{198,-148},{180,-148},{180,-240},{142,-240}},
+          color={255,0,255}));
+  connect(edgReq.u, triTun)
+    annotation (Line(points={{118,-240},{40,-240},{40,-300}}, color={255,0,255}));
+  connect(tunStaDel.y, nand.u1) annotation (Line(points={{162,-140},{198,-140}},
+          color={255,0,255}));
+  connect(tunStaDel.u, inTunPro.y) annotation (Line(points={{138,-140},{82,-140}},
+          color={255,0,255}));
+  connect(con1.y, sub.u1) annotation (Line(points={{-138,260},{-120,260},{-120,246},
+          {-82,246}}, color={0,0,127}));
+  connect(con2.y, sub.u2) annotation (Line(points={{-138,210},{-100,210},{-100,234},
+          {-82,234}}, color={0,0,127}));
+  connect(sub1.u1, con2.y) annotation (Line(points={{-82,206},{-100,206},{-100,210},
+          {-138,210}}, color={0,0,127}));
+  connect(sub1.u2, con3.y) annotation (Line(points={{-82,194},{-120,194},{-120,180},
+          {-138,180}}, color={0,0,127}));
+  connect(sub.y, sub2.u1) annotation (Line(points={{-58,240},{-40,240},{-40,226},
+          {-2,226}}, color={0,0,127}));
+  connect(sub1.y, sub2.u2)
+    annotation (Line(points={{-58,200},{-40,200},{-40,214},{-2,214}}, color={0,0,127}));
+  connect(abs1.u, sub2.y)
+    annotation (Line(points={{38,220},{22,220}}, color={0,0,127}));
+  connect(abs1.y, gre.u1)
+    annotation (Line(points={{62,220},{98,220}}, color={0,0,127}));
+  connect(gre.y, assMes2.u)
+    annotation (Line(points={{122,220},{158,220}}, color={255,0,255}));
+  connect(con4.y, gre.u2) annotation (Line(points={{62,180},{80,180},{80,212},{98,
+          212}}, color={0,0,127}));
+  connect(rel.y, yRel.u) annotation (Line(points={{-58,-24},{-40,-24},{-40,60},{
+          -2,60}}, color={0,0,127}));
+  connect(yRel.y, addPar.u)
+    annotation (Line(points={{22,60},{78,60}}, color={0,0,127}));
+  connect(addPar.y, swi.u1) annotation (Line(points={{102,60},{130,60},{130,-192},
+          {238,-192}},color={0,0,127}));
+  connect(rel.u_m, u_m) annotation (Line(points={{-70,-42},{-70,-160},{0,-160},{
+          0,-300}}, color={0,0,127}));
+  connect(rel.u_s, u_s) annotation (Line(points={{-82,-30},{-260,-30},{-260,-160},
+          {-300,-160}}, color={0,0,127}));
+  connect(sam_u_s.u, u_s) annotation (Line(points={{-142,130},{-260,130},{-260,-160},
+          {-300,-160}}, color={0,0,127}));
+  connect(sam_u_s.y, sub3.u1) annotation (Line(points={{-118,130},{-100,130},{-100,
+          116},{-82,116}}, color={0,0,127}));
+  connect(sub3.u2, u_s) annotation (Line(points={{-82,104},{-260,104},{-260,-160},
+          {-300,-160}}, color={0,0,127}));
+  connect(sub3.y, abs2.u)
+    annotation (Line(points={{-58,110},{-42,110}}, color={0,0,127}));
+  connect(nand1.y, assMes3.u)
+    annotation (Line(points={{102,110},{158,110}}, color={255,0,255}));
+  connect(greThr.y, nand1.u1)
+    annotation (Line(points={{22,110},{78,110}}, color={255,0,255}));
+  connect(conProMod.tunSta, samk.trigger) annotation (Line(points={{82,2},{90,2},
+          {90,-180},{-130,-180},{-130,-188}},   color={255,0,255}));
+  connect(samTi.trigger, conProMod.tunSta) annotation (Line(points={{-180,-218},
+          {-180,-180},{90,-180},{90,2},{82,2}},  color={255,0,255}));
+  connect(samTd.trigger, conProMod.tunSta) annotation (Line(points={{-230,-248},
+          {-230,-180},{90,-180},{90,2},{82,2}},  color={255,0,255}));
+  connect(sam_u_s.trigger, triTun) annotation (Line(points={{-130,118},{-130,-140},
+          {40,-140},{40,-300}}, color={255,0,255}));
+  connect(abs2.y, greThr.u)
+    annotation (Line(points={{-18,110},{-2,110}}, color={0,0,127}));
+  connect(nand1.u2, triTun) annotation (Line(points={{78,102},{40,102},{40,-300}},
+          color={255,0,255}));
+  connect(falEdg.u, nand1.y) annotation (Line(points={{-222,50},{-240,50},{-240,
+          80},{120,80},{120,110},{102,110}}, color={255,0,255}));
+  connect(falEdg.y, or2.u1)
+    annotation (Line(points={{-198,50},{-182,50}},  color={255,0,255}));
+  connect(resPro.triEnd, or2.u2) annotation (Line(points={{2,-58},{76,-58},{76,-90},
+          {-190,-90},{-190,42},{-182,42}},  color={255,0,255}));
+  connect(or2.y, inTunPro.clr) annotation (Line(points={{-158,50},{-140,50},{-140,
+          -146},{58,-146}}, color={255,0,255}));
+  connect(conProMod.triEnd, resPro.triEnd)
+    annotation (Line(points={{76,-2},{76,-58},{2,-58}},  color={255,0,255}));
+  connect(PIDPar.k, samk.u) annotation (Line(points={{182,-33},{230,-33},{230,-80},
+          {-160,-80},{-160,-200},{-142,-200}}, color={0,0,127}));
+  connect(PIDPar.Td, samTd.u) annotation (Line(points={{182,-47},{220,-47},{220,
+          -70},{-250,-70},{-250,-260},{-242,-260}}, color={0,0,127}));
+
+annotation (defaultComponentName = "PIDWitTun",
+Documentation(info="<html>
+<p>
+This block implements a rule-based PID tuning method.
+</p>
+<p>
+The PID tuning method approximates the control process with a
+first-order time delayed (FOTD) model.
+It then determines the gain and delay of this FOTD model based on the responses of
+the control process to asymmetric relay feedback.
+After that, taking the gain and delay of this FOTD mode as inputs, this PID tuning
+method calculates the PID gains with an Approximate M-constrained Integral Gain
+Optimization (AMIGO) Tuner.
+</p>
+<p>
+This block is implemented using
+<a href=\"modelica://Buildings.Controls.OBC.Utilities.PIDWithInputGains\">
+Buildings.Controls.OBC.Utilities.PIDWithInputGains</a>
+and inherits most of its configuration. However, through the parameter
+<code>controllerType</code>, the controller can only be configured as PI or
+PID controller.
+</p>
+
+<h4>Autotuning Process</h4>
+<p>
+To use this block, place it in a control loop as any other PID controllers.
+Before the PID tuning process starts, this block is equivalent to
+<a href=\"modelica://Buildings.Controls.OBC.Utilities.PIDWithInputGains\">
+Buildings.Controls.OBC.Utilities.PIDWithInputGains</a>.
+This block starts the PID tuning process when a request for performing autotuning occurs, i.e.,
+when the value of the boolean input signal <code>triTun</code> changes from
+<code>false</code> to <code>true</code>.
+During the autotuning process, the output of the block changes into that of a relay controller
+(see <a href=\"modelica://Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.Controller\">
+Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.Controller</a>).
+The PID tuning process ends automatically
+(see details in
+<a href=\"modelica://Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.BaseClasses.TuningMonitor\">
+Buildings.Controls.OBC.Utilities.PIDWithAutotuning.BaseClasses.Relay.TunMonitor</a>),
+at which point this block turns back to a PID controller but with tuned PID parameters.
+</p>
+<p>Note:</p>
+<ul>
+<li>
+If an autotuning is ongoing, i.e., <code>inTunPro.y = true</code>,
+a new request for performing autotuning will be ignored.
+</li>
+<li>
+In addition, if the set point is changed during an autotuning process, a warning
+will be generated. This tuning process will be stopped and the control parameters
+from the begining the current process will be used.
+</li>
+</ul>
+<h4>Guidance for setting the parameters</h4>
+<p>
+The performance of the autotuning is affected by the parameters, including the
+typical range of control error, <code>r</code>, 
+the reference output for the tuning process, <code>yRef</code>, the higher and the
+lower values for the relay output, <code>yHig</code> and <code>yLow</code>, and the
+deadband, <code>deaBan</code>.
+The following procedure can be used to determine the values of those parameters. 
+</p>
+<ol>
+<li>
+Perform a &quot;test run&quot; to determine the maximum and the minimum values of
+measurement. In this test run, the autotuning is disabled and the set point is constant.
+This test run should stop after the system is stable.
+Record the maximum and the minimum values of measurement after the system is stable.
+</li>
+<li>
+The <code>r</code> should be adjusted so that the output of the relay controller,
+<code>rel.yDif</code>, is within the range from 0 to 1.
+</li>
+<li>
+The <code>yRef</code> can be determined by dividing the set point by the sum of the
+minimum and the maximum values of the measurement.
+</li>
+<li>
+The <code>yHig</code> and <code>yLow</code> should be adjusted to realize an
+asymmetric relay output, i.e., <code>yHig - yRef &ne; yRef - yLow</code>.
+</li>
+<li>
+When determining the <code>deaBan</code>, we first divide the maximum and the 
+minimum difference of measurement from the setpoint by the typical range of control
+error <code>r</code>, then find the absolute value of the two deviations. 
+The <code>deaBan</code> can be set as half of the smaller one between the two
+absolute deviations.
+</li>
+</ol>
+<h4>References</h4>
+<p>
+J. Berner (2017).
+<a href=\"https://lucris.lub.lu.se/ws/portalfiles/portal/33100749/ThesisJosefinBerner.pdf\">
+\"Automatic Controller Tuning using Relay-based Model Identification.\"</a>
+Department of Automatic Control, Lund University.
+</p>
+</html>", revisions="<html>
+<ul>
+<li>
+April 3, 2024, by Sen Huang:<br/>
+Made <code>yMax</code> and <code>yMin</code> changeable.
+</li>
+<li>
+March 8, 2024, by Michael Wetter:<br/>
+Propagated range of control error <code>r</code> to relay controller.
+</li>
+<li>
+October 23, 2023, by Michael Wetter:<br/>
+Revised implmenentation. Made initial control gains public so that a stable
+operation can be made prior to the first tuning.
+</li>
+<li>
+June 1, 2022, by Sen Huang:<br/>
+First implementation<br/>
+</li>
+</ul>
+</html>"),
+Icon(coordinateSystem(extent={{-100,-100},{100,100}}),
+     graphics={
+        Text(
+          extent={{-100,140},{100,100}},
+          textString="%name",
+          textColor={0,0,255}),
+        Rectangle(
+          extent={{-100,-100},{100,100}},
+          lineColor={0,0,127},
+          fillColor={255,255,255},
+          fillPattern=FillPattern.Solid),
+        Rectangle(
+          extent={{-6,-20},{66,-66}},
+          lineColor={255,255,255},
+          fillColor={255,255,255},
+          fillPattern=FillPattern.Solid),
+        Text(
+          extent={{-56,100},{36,70}},
+          textString= if controllerType == Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Types.SimpleController.PID then "PID" else "PI",
+          fillPattern=FillPattern.Solid,
+          fillColor={175,175,175}),
+        Polygon(
+          points={{-80,82},{-88,60},{-72,60},{-80,82}},
+          lineColor={192,192,192},
+          fillColor={192,192,192},
+          fillPattern=FillPattern.Solid),
+        Line(
+          points={{-80,68},{-80,-100}},
+          color={192,192,192}),
+        Line(
+          points={{-90,-80},{70,-80}},
+          color={192,192,192}),
+        Polygon(
+          points={{74,-80},{52,-72},{52,-88},{74,-80}},
+          lineColor={192,192,192},
+          fillColor={192,192,192},
+          fillPattern=FillPattern.Solid),
+        Line(
+          points={{-80,-80},{-80,-22}},
+          color={0,0,0}),
+        Line(
+          points={{-80,-22},{6,56}},
+          color={0,0,0}),
+        Line(
+          points={{6,56},{68,56}},
+          color={0,0,0}),
+        Rectangle(
+          extent=DynamicSelect({{100,-100},{84,-100}},{{100,-100},{84,-100+(y-yMin)/(yMax-yMin)*200}}),
+          fillColor={175,175,175},
+          fillPattern=FillPattern.Solid,
+          pattern=LinePattern.None,
+          lineColor={0,0,0}),
+        Text(
+          extent={{226,60},{106,10}},
+          textColor={0,0,0},
+          textString=DynamicSelect("",String(y,
+            leftJustified=false,
+            significantDigits=3))),
+        Text(
+          extent={{24,50},{-74,12}},
+          textColor={0,0,0},
+          textString=DynamicSelect(
+            "k = " + String(k_start,
+            leftJustified=false,
+            significantDigits=3),
+            "k = " + String(con.k,
+            leftJustified=false,
+            significantDigits=3))),
+        Text(
+          extent={{40,8},{-68,-28}},
+          textColor={0,0,0},
+          textString=DynamicSelect(
+            "Ti = " + String(Ti_start,
+            leftJustified=false,
+            significantDigits=3),
+            "Ti = " + String(con.Ti,
+            leftJustified=false,
+            significantDigits=3))),
+        Text(
+          visible = controllerType == Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Types.SimpleController.PID,
+          extent={{44,-34},{-62,-70}},
+          textColor={0,0,0},
+          textString=DynamicSelect(
+            "Td = " + String(Td_start,
+            leftJustified=false,
+            significantDigits=3),
+            "Td = " + String(con.Td,
+            leftJustified=false,
+            significantDigits=3)))}),
+Diagram(coordinateSystem(extent={{-280,-280},{280,280}})));
+end FirstOrderAMIGO;
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Relay/BaseClasses/HalfPeriodRatio.mo b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Relay/BaseClasses/HalfPeriodRatio.mo
new file mode 100644
index 00000000000..8df5b9b5013
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Relay/BaseClasses/HalfPeriodRatio.mo
@@ -0,0 +1,115 @@
+within Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.BaseClasses;
+block HalfPeriodRatio
+  "Calculate the half period ratio of a response from a relay controller"
+  Buildings.Controls.OBC.CDL.Interfaces.RealInput tOn(
+    final quantity="Time",
+    final unit="s",
+    min=100*Buildings.Controls.OBC.CDL.Constants.eps)
+    "Length for the on period"
+    annotation (Placement(transformation(extent={{-140,60},{-100,100}}),
+    iconTransformation(extent={{-140,40},{-100,80}})));
+  Buildings.Controls.OBC.CDL.Interfaces.RealInput tOff(
+    final quantity="Time",
+    final unit="s",
+    min=100*Buildings.Controls.OBC.CDL.Constants.eps)
+    "Length for the off period"
+    annotation (Placement(transformation(extent={{-140,-90},{-100,-50}}),
+    iconTransformation(extent={{-140,-80},{-100,-40}})));
+  Buildings.Controls.OBC.CDL.Interfaces.BooleanInput TunEnd
+    "True: the tuning process ends"
+    annotation (Placement(transformation(extent={{-140,-20},{-100,20}}),
+        iconTransformation(extent={{-140,-20},{-100,20}})));
+  Buildings.Controls.OBC.CDL.Interfaces.RealOutput rho
+    "Real signal of the half period ratio"
+    annotation (Placement(transformation(extent={{100,-20},{140,20}}),
+        iconTransformation(extent={{100,-20},{140,20}})));
+
+protected
+  Buildings.Controls.OBC.CDL.Discrete.TriggeredSampler tOnSam(
+    final y_start=Buildings.Controls.OBC.CDL.Constants.eps)
+    "Block that samples tOn when the tuning period ends"
+    annotation (Placement(transformation(extent={{-80,70},{-60,90}})));
+  Buildings.Controls.OBC.CDL.Discrete.TriggeredSampler tOffSam(
+    final y_start=Buildings.Controls.OBC.CDL.Constants.eps)
+    "Block that samples tOff when the tuning period ends"
+    annotation (Placement(transformation(extent={{-60,-80},{-40,-60}})));
+  Buildings.Controls.OBC.CDL.Reals.Min mintOntOff
+    "Block that finds the smaller one between the length for the on period and the length for the off period"
+    annotation (Placement(transformation(extent={{0,-50},{20,-30}})));
+  Buildings.Controls.OBC.CDL.Reals.Max maxtOntOff
+    "Block that finds the larger one between the length for the on period and the length for the off period"
+    annotation (Placement(transformation(extent={{0,30},{20,50}})));
+  Buildings.Controls.OBC.CDL.Reals.Divide halPerRat
+    "Block that calculates the half period ratio"
+    annotation (Placement(transformation(extent={{60,-10},{80,10}})));
+
+equation
+  connect(tOnSam.u, tOn)
+    annotation (Line(points={{-82,80},{-120,80}}, color={0,0,127}));
+  connect(tOffSam.u, tOff)
+    annotation (Line(points={{-62,-70},{-120,-70}}, color={0,0,127}));
+  connect(tOnSam.y, maxtOntOff.u1) annotation (Line(points={{-58,80},{-40,80},{-40,
+          46},{-2,46}},  color={0,0,127}));
+  connect(maxtOntOff.u2, tOffSam.y) annotation (Line(points={{-2,34},{-20,34},{-20,
+          -70},{-38,-70}}, color={0,0,127}));
+  connect(mintOntOff.u2, tOffSam.y) annotation (Line(points={{-2,-46},{-20,-46},
+          {-20,-70},{-38,-70}}, color={0,0,127}));
+  connect(maxtOntOff.y, halPerRat.u1) annotation (Line(points={{22,40},{40,40},{
+          40,6},{58,6}}, color={0,0,127}));
+  connect(halPerRat.u2, mintOntOff.y) annotation (Line(points={{58,-6},{40,-6},{
+          40,-40},{22,-40}},color={0,0,127}));
+  connect(halPerRat.y, rho) annotation (Line(points={{82,0},{120,0}},
+               color={0,0,127}));
+  connect(tOnSam.y, mintOntOff.u1)
+    annotation (Line(points={{-58,80},{-40,80},{-40,-34},{-2,-34}},
+          color={0,0,127}));
+  connect(tOnSam.trigger, TunEnd)
+    annotation (Line(points={{-70,68},{-70,0},{-120,0}}, color={255,0,255}));
+  connect(TunEnd, tOffSam.trigger) annotation (Line(points={{-120,0},{-70,0},{-70,
+          -90},{-50,-90},{-50,-82}}, color={255,0,255}));
+  annotation (defaultComponentName = "halPerRat",
+        Diagram(
+           coordinateSystem(
+           extent={{-100,-100},{100,100}})),
+        Icon(coordinateSystem(preserveAspectRatio=false, extent={{-100,-100},{100,
+            100}}),                                      graphics={
+        Rectangle(
+          extent={{-100,-100},{100,100}},
+          lineColor={0,0,127},
+          fillColor={255,255,255},
+          fillPattern=FillPattern.Solid),
+        Text(
+          extent={{-100,140},{100,100}},
+          textString="%name",
+          textColor={0,0,255})}),
+    Documentation(revisions="<html>
+<ul>
+<li>
+June 1, 2022, by Sen Huang:<br/>
+First implementation<br/>
+</li>
+</ul>
+</html>", info="<html>
+<p>
+This block calculates the half-period ratio of the output from a relay controller.
+</p>
+<p align=\"center\" style=\"font-style:italic;\">
+&rho; = max(t<sub>on</sub>,t<sub>off</sub>)/ min(t<sub>on</sub>,t<sub>off</sub>),
+</p>
+<p>
+where <code>t<sub>on</sub></code> and <code>t<sub>off</sub></code> are the
+lengths of the on period and the off period, respectively.
+An On period is defined as the period when the relay switch output of the relay controller is
+<code>true</code>.
+Likewise, an Off period is defined as the period when the relay switch output is <code>false</code>.
+See details of the relay switch output in
+<a href=\"modelica://Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.Controller\">
+Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.Controller</a>.
+</p>
+
+<h4>References</h4>
+<p>Josefin Berner (2017)
+\"Automatic Controller Tuning using Relay-based Model Identification.\"
+Department of Automatic Control, Lund Institute of Technology, Lund University. </p>
+</html>"));
+end HalfPeriodRatio;
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Relay/BaseClasses/NormalizedTimeDelay.mo b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Relay/BaseClasses/NormalizedTimeDelay.mo
new file mode 100644
index 00000000000..3205ed7af24
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Relay/BaseClasses/NormalizedTimeDelay.mo
@@ -0,0 +1,114 @@
+within Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.BaseClasses;
+block NormalizedTimeDelay
+  "Calculate the normalized time delay of a response from a relay controller"
+  parameter Real gamma(min=1+1E-6) = 4
+    "Asymmetry level of the relay controller";
+  Buildings.Controls.OBC.CDL.Interfaces.RealInput rho
+    "Half period ratio"
+    annotation (Placement(transformation(extent={{-140,-20},{-100,20}}),
+    iconTransformation(extent={{-140,-20},{-100,20}})));
+  Buildings.Controls.OBC.CDL.Interfaces.RealOutput tau
+    "Normalized time delay"
+    annotation (Placement(transformation(extent={{100,-20},{140,20}})));
+
+protected
+  Buildings.Controls.OBC.CDL.Reals.AddParameter addPar1(
+    final p=-1)
+    "Block that calculates the difference between gamma and 1"
+    annotation (Placement(transformation(extent={{-40,-20},{-20,0}})));
+  Buildings.Controls.OBC.CDL.Reals.AddParameter addPar2(
+    final p=0.65)
+    "Block that calculates the sum of the two inputs"
+    annotation (Placement(transformation(extent={{-40,-70},{-20,-50}})));
+  Buildings.Controls.OBC.CDL.Reals.Sources.Constant asyLev(
+    final k=gamma)
+    "Asymmetry level of the relay controller"
+    annotation (Placement(transformation(extent={{-80,70},{-60,90}})));
+  Buildings.Controls.OBC.CDL.Reals.Divide div
+    "Block that calculates the normalized time delay"
+    annotation (Placement(transformation(extent={{60,-10},{80,10}})));
+  Buildings.Controls.OBC.CDL.Reals.Subtract subGamRho
+    "Block that calculates the difference between the asymmetry level of the relay controller and the half period ratio"
+    annotation (Placement(transformation(extent={{20,10},{40,30}})));
+  Buildings.Controls.OBC.CDL.Reals.MultiplyByParameter gai(
+    final k=0.35)
+    "Gain for the half period ratio"
+    annotation (Placement(transformation(extent={{-80,-70},{-60,-50}})));
+  Buildings.Controls.OBC.CDL.Reals.Multiply mul
+    "Block that calculates the product of the two inputs"
+    annotation (Placement(transformation(extent={{20,-48},{40,-28}})));
+  Buildings.Controls.OBC.CDL.Utilities.Assert assMes(
+    final message="Warning: the asymmetry level of the relay controller is lower than the half period ratio. Increase the level.")
+    "Warning message when asymmetry level is less than the half period ratio"
+    annotation (Placement(transformation(extent={{60,50},{80,70}})));
+  Buildings.Controls.OBC.CDL.Reals.Greater gre(
+    final h=1e-6)
+    "Output true if the asymmetry level is greater than the half period ratio"
+    annotation (Placement(transformation(extent={{-20,50},{0,70}})));
+
+equation
+  connect(subGamRho.u1, asyLev.y) annotation (Line(points={{18,26},{-50,26},{
+          -50,80},{-58,80}}, color={0,0,127}));
+  connect(subGamRho.u2, rho) annotation (Line(points={{18,14},{-94,14},{-94,0},
+          {-120,0}}, color={0,0,127}));
+  connect(gai.u, rho) annotation (Line(points={{-82,-60},{-94,-60},{-94,0},{-120,
+          0}}, color={0,0,127}));
+  connect(div.u1, subGamRho.y)
+    annotation (Line(points={{58,6},{50,6},{50,20},{42,20}}, color={0,0,127}));
+  connect(div.u2, mul.y) annotation (Line(points={{58,-6},{50,-6},{50,-38},{42,
+          -38}}, color={0,0,127}));
+  connect(div.y, tau)
+    annotation (Line(points={{82,0},{120,0}}, color={0,0,127}));
+  connect(gai.y, addPar2.u)
+    annotation (Line(points={{-58,-60},{-42,-60}}, color={0,0,127}));
+  connect(addPar2.y, mul.u2) annotation (Line(points={{-18,-60},{0,-60},{0,-44},
+          {18,-44}}, color={0,0,127}));
+  connect(addPar1.u, asyLev.y) annotation (Line(points={{-42,-10},{-50,-10},{
+          -50,80},{-58,80}}, color={0,0,127}));
+  connect(addPar1.y, mul.u1) annotation (Line(points={{-18,-10},{0,-10},{0,-32},
+          {18,-32}}, color={0,0,127}));
+  connect(asyLev.y, gre.u1) annotation (Line(points={{-58,80},{-50,80},{-50,60},
+          {-22,60}}, color={0,0,127}));
+  connect(rho, gre.u2) annotation (Line(points={{-120,0},{-94,0},{-94,52},{-22,52}},
+        color={0,0,127}));
+  connect(gre.y, assMes.u)
+    annotation (Line(points={{2,60},{58,60}}, color={255,0,255}));
+  annotation (
+        defaultComponentName = "norTimDel",
+        Icon(coordinateSystem(preserveAspectRatio=false), graphics={
+        Rectangle(
+          extent={{-100,-100},{100,100}},
+          lineColor={0,0,127},
+          fillColor={255,255,255},
+          fillPattern=FillPattern.Solid),
+        Text(
+          extent={{-100,140},{100,100}},
+          textString="%name",
+          textColor={0,0,255})}), Diagram(coordinateSystem(preserveAspectRatio=false)),
+    Documentation(revisions="<html>
+<ul>
+<li>
+June 1, 2022, by Sen Huang:<br/>
+First implementation<br/>
+</li>
+</ul>
+</html>", info="<html>
+<p>
+This block calculates the normalized time delay of the output from a relay controller.
+</p>
+<h4>Main equations</h4>
+<p align=\"center\" style=\"font-style:italic;\">
+&tau; = (&gamma; - &rho;)/(&gamma; - 1)/(&rho;*0.35+0.65),
+</p>
+<p>
+where <code>&gamma;</code> and <code>&rho;</code> are the asymmetry level of
+the relay controller and the half-period ratio, respectively.
+</p>
+<h4>References</h4>
+<p>
+Josefin Berner (2017)
+\"Automatic Controller Tuning using Relay-based Model Identification.\"
+Department of Automatic Control, Lund Institute of Technology, Lund University.
+</p>
+</html>"));
+end NormalizedTimeDelay;
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Relay/BaseClasses/OnOffPeriod.mo b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Relay/BaseClasses/OnOffPeriod.mo
new file mode 100644
index 00000000000..01f192453ad
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Relay/BaseClasses/OnOffPeriod.mo
@@ -0,0 +1,124 @@
+within Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.BaseClasses;
+block OnOffPeriod "Calculate the lengths of the on period and the off period"
+  Buildings.Controls.OBC.CDL.Interfaces.RealInput tim(
+    final quantity="Time",
+    final unit="s")
+    "Simulation time"
+    annotation (Placement(transformation(extent={{-140,20},{-100,60}}),
+        iconTransformation(extent={{-140,40},{-100,80}})));
+  Buildings.Controls.OBC.CDL.Interfaces.BooleanInput on
+   "Relay switch signal"
+    annotation (Placement(transformation(extent={{-140,-20},{-100,20}}),
+        iconTransformation(extent={{-140,-20},{-100,20}})));
+  Buildings.Controls.OBC.CDL.Interfaces.BooleanInput trigger
+    "Reset the output when trigger becomes true"
+    annotation (Placement(transformation(extent={{-140,-80},{-100,-40}}),
+        iconTransformation(extent={{-140,-80},{-100,-40}})));
+  Buildings.Controls.OBC.CDL.Interfaces.RealOutput tOff(
+    final quantity="Time",
+    final unit="s",
+    min=100*Buildings.Controls.OBC.CDL.Constants.eps)
+    "Length for the off period"
+    annotation (Placement(transformation(extent={{100,-60},{140,-20}}),
+        iconTransformation(extent={{100,-60},{140,-20}})));
+  Buildings.Controls.OBC.CDL.Interfaces.RealOutput tOn(
+    final quantity="Time",
+    final unit="s",
+    min=100*Buildings.Controls.OBC.CDL.Constants.eps)
+    "Length for the on period"
+    annotation (Placement(transformation(extent={{100,20},{140,60}})));
+protected
+  Buildings.Controls.OBC.CDL.Discrete.TriggeredSampler timOn
+    "Simulation time when the input signal becomes on (True)"
+    annotation (Placement(transformation(extent={{-50,30},{-30,50}})));
+  Buildings.Controls.OBC.CDL.Discrete.TriggeredSampler timOff
+    "Simulation time when the input signal becomes off (False)"
+    annotation (Placement(transformation(extent={{-50,-10},{-30,10}})));
+  Buildings.Controls.OBC.CDL.Reals.Subtract lenOffCal
+    "Block that calculates the horizon length for the off period"
+    annotation (Placement(transformation(extent={{10,-50},{30,-30}})));
+  Buildings.Controls.OBC.CDL.Reals.Subtract lenOnCal
+    "Block that calculates the horizon length for the on period"
+    annotation (Placement(transformation(extent={{12,30},{32,50}})));
+  Buildings.Controls.OBC.CDL.Logical.Not not1
+    "True: the relay output switch to false"
+    annotation (Placement(transformation(extent={{-80,-30},{-60,-10}})));
+  Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.BaseClasses.SamplerWithResetThreshold timOnRec(
+     final lowLim=0, final y_reset=0)
+    "Sampling the on time"
+    annotation (Placement(transformation(extent={{60,30},{80,50}})));
+  Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.BaseClasses.SamplerWithResetThreshold timOffRec(
+     final lowLim=0, final y_reset=0)
+    "Sampling the off time"
+    annotation (Placement(transformation(extent={{60,-50},{80,-30}})));
+
+equation
+  connect(lenOffCal.u1, timOn.y) annotation (Line(points={{8,-34},{0,-34},{0,40},
+          {-28,40}},color={0,0,127}));
+  connect(lenOnCal.u2, timOn.y)
+    annotation (Line(points={{10,34},{0,34},{0,40},{-28,40}},color={0,0,127}));
+  connect(lenOnCal.u1, timOff.y) annotation (Line(points={{10,46},{-20,46},{-20,
+          0},{-28,0}}, color={0,0,127}));
+  connect(lenOffCal.u2, timOff.y) annotation (Line(points={{8,-46},{-20,-46},{
+          -20,0},{-28,0}}, color={0,0,127}));
+  connect(timOn.u, tim) annotation (Line(points={{-52,40},{-120,40}},
+                color={0,0,127}));
+  connect(timOff.u, tim) annotation (Line(points={{-52,0},{-60,0},{-60,40},{
+          -120,40}}, color={0,0,127}));
+  connect(timOn.trigger, on) annotation (Line(points={{-40,28},{-40,20},{-92,20},
+          {-92,0},{-120,0}}, color={255,0,255}));
+  connect(not1.u, on) annotation (Line(points={{-82,-20},{-92,-20},{-92,0},{-120,
+          0}}, color={255,0,255}));
+  connect(not1.y, timOff.trigger) annotation (Line(points={{-58,-20},{-40,-20},{
+          -40,-12}}, color={255,0,255}));
+  connect(timOnRec.y, tOn)
+    annotation (Line(points={{82,40},{120,40}}, color={0,0,127}));
+  connect(timOffRec.y, tOff)
+    annotation (Line(points={{82,-40},{120,-40}}, color={0,0,127}));
+  connect(lenOnCal.y, timOnRec.u) annotation (Line(points={{34,40},{40,40},{40,
+          46},{58,46}}, color={0,0,127}));
+  connect(lenOffCal.y, timOffRec.u) annotation (Line(points={{32,-40},{48,-40},{
+          48,-34},{58,-34}}, color={0,0,127}));
+  connect(timOnRec.trigger, trigger) annotation (Line(points={{58,34},{40,34},{40,
+          -60},{-120,-60}}, color={255,0,255}));
+  connect(timOffRec.trigger, trigger) annotation (Line(points={{58,-46},{40,-46},
+          {40,-60},{-120,-60}}, color={255,0,255}));
+  annotation (
+        defaultComponentName = "onOffPer",
+        Icon(coordinateSystem(preserveAspectRatio=false), graphics={
+        Rectangle(
+          extent={{-100,-100},{100,100}},
+          lineColor={0,0,127},
+          fillColor={255,255,255},
+          fillPattern=FillPattern.Solid),
+        Text(
+          extent={{-100,140},{100,100}},
+          textString="%name",
+          textColor={0,0,255})}), Diagram(coordinateSystem(preserveAspectRatio=false)),
+    Documentation(revisions="<html>
+<ul>
+<li>
+June 1, 2022, by Sen Huang:<br/>
+First implementation<br/>
+</li>
+</ul>
+</html>", info="<html>
+<p>
+This block processes a relay switch output and calculates the length of
+the on period, <code>tOn</code>, and the length of the off period, <code>tOff</code>, as shown below.
+</p>
+<p align=\"center\">
+<img alt=\"image\" src=\"modelica://Buildings/Resources/Images/Controls/OBC/Utilities/PIDWithAutotuning/Relay/BaseClasses/OnOff.png\"/>
+</p>
+<p>
+Note that <code>tOn</code> is sampled when the relay switch output becomes false.
+Likewise, <code>tOff</code> is sampled when the relay switch output becomes true.
+</p>
+<h4>References</h4>
+<p>
+Josefin Berner (2017)
+\"Automatic Controller Tuning using Relay-based Model Identification.\"
+Department of Automatic Control, Lund Institute of Technology, Lund University.
+</p>
+</html>"));
+end OnOffPeriod;
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Relay/BaseClasses/SamplerWithResetThreshold.mo b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Relay/BaseClasses/SamplerWithResetThreshold.mo
new file mode 100644
index 00000000000..8269032872e
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Relay/BaseClasses/SamplerWithResetThreshold.mo
@@ -0,0 +1,98 @@
+within Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.BaseClasses;
+block SamplerWithResetThreshold
+  "Sampler with a reset and a threshold"
+  parameter Real lowLim = 1
+    "Lower limit for triggering the sampling";
+  parameter Real y_reset = 1
+    "The value of y when the reset occurs";
+  Buildings.Controls.OBC.CDL.Interfaces.RealInput u
+    "Input real signal"
+    annotation (Placement(transformation(extent={{-140,-10},{-100,30}}),
+        iconTransformation(extent={{-140,40},{-100,80}})));
+  Buildings.Controls.OBC.CDL.Interfaces.BooleanInput trigger
+    "Reset the output when trigger becomes true"
+    annotation (Placement(transformation(extent={{-140,-100},{-100,-60}}),
+        iconTransformation(extent={{-140,-80},{-100,-40}})));
+  Buildings.Controls.OBC.CDL.Interfaces.RealOutput y
+   "Sampling output"
+    annotation (Placement(transformation(extent={{100,30},{140,70}}),
+        iconTransformation(extent={{100,-20},{140,20}})));
+
+protected
+  Buildings.Controls.OBC.CDL.Reals.Sources.Constant thr(final k=lowLim)
+    "Threshold"
+    annotation (Placement(transformation(extent={{-80,-38},{-60,-18}})));
+  Buildings.Controls.OBC.CDL.Discrete.TriggeredSampler yRec(
+    final y_start=y_reset)
+    "Record the input when sampling is triggered"
+    annotation (Placement(transformation(extent={{60,40},{80,60}})));
+  Buildings.Controls.OBC.CDL.Reals.Sources.Constant reset(
+    final k=y_reset)
+    "Reset value"
+    annotation (Placement(transformation(origin={0,148}, extent={{-80,-90},{-60,-70}})));
+  Buildings.Controls.OBC.CDL.Logical.Or samTri "Sampling trigger"
+    annotation (Placement(transformation(extent={{40,-30},{60,-10}})));
+  Buildings.Controls.OBC.CDL.Reals.Greater gre
+    "Check if the input signal is larger than the threshold"
+    annotation (Placement(transformation(origin={-8,-50}, extent={{-32,20},{-12,40}})));
+  Buildings.Controls.OBC.CDL.Reals.Switch swi
+    "Switch between sampling the input signal and the reset value"
+    annotation (Placement(transformation(extent={{0,40},{20,60}})));
+  Buildings.Controls.OBC.CDL.Logical.Edge edgRes(
+    final pre_u_start=false)
+    "Detect if the reset is triggered"
+    annotation (Placement(transformation(origin={0,-40}, extent={{-80,-50},{-60,-30}})));
+  Buildings.Controls.OBC.CDL.Logical.Edge edgThr(
+    final pre_u_start=false)
+    "Detect if the threshold is exceeded"
+    annotation (Placement(transformation(extent={{0,-30},{20,-10}})));
+equation
+  connect(yRec.y, y) annotation (Line(points={{82,50},{120,50}},
+         color={0,0,127}));
+  connect(thr.y, gre.u2) annotation (Line(points={{-58,-28},{-42,-28}},
+         color={0,0,127}));
+  connect(gre.u1, u) annotation (Line(points={{-42,-20},{-50,-20},{-50,10},{-120,
+          10}}, color={0,0,127}));
+  connect(yRec.u, swi.y)
+    annotation (Line(points={{58,50},{22,50}}, color={0,0,127}));
+  connect(edgRes.u, trigger) annotation (Line(points={{-82,-80},{-120,-80}},  color={255,0,255}));
+  connect(edgRes.y, swi.u2) annotation (Line(points={{-58,-80},{-10,-80},{-10,50},
+          {-2,50}}, color={255,0,255}));
+  connect(swi.u3, u)
+    annotation (Line(points={{-2,42},{-50,42},{-50,10},{-120,10}},
+        color={0,0,127}));
+  connect(swi.u1, reset.y) annotation (Line(points={{-2,58},{-40,58},{-40,68},{-58,
+          68}}, color={0,0,127}));
+  connect(samTri.u2, edgRes.y) annotation (Line(points={{38,-28},{30,-28},{30,-80},
+          {-58,-80}}, color={255,0,255}));
+  connect(samTri.y, yRec.trigger)
+    annotation (Line(points={{62,-20},{70,-20},{70,38}}, color={255,0,255}));
+  connect(edgThr.y, samTri.u1)
+    annotation (Line(points={{22,-20},{38,-20}}, color={255,0,255}));
+  connect(edgThr.u, gre.y) annotation (Line(points={{-2,-20},{-18,-20}},color={255,0,255}));
+  annotation (
+        defaultComponentName = "samResThr",
+        Icon(coordinateSystem(preserveAspectRatio=false), graphics={
+        Rectangle(
+          extent={{-100,-100},{100,100}},
+          lineColor={0,0,127},
+          fillColor={255,255,255},
+          fillPattern=FillPattern.Solid),
+        Text(
+          extent={{-100,140},{100,100}},
+          textString="%name",
+          textColor={0,0,255})}), Diagram(coordinateSystem(preserveAspectRatio=false)),
+    Documentation(revisions="<html>
+<ul>
+<li>
+September 20, 2023, by Sen Huang:<br/>
+First implementation<br/>
+</li>
+</ul>
+</html>", info="<html>
+<p>
+This block samples the input real signal <code>u</code> when <code>u</code> is larger than a threshold.
+On the other hand, when the input boolean signal <code>trigger</code> becomes true, the output <code>y</code> is reset to a default value.
+</p>
+</html>"));
+end SamplerWithResetThreshold;
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Relay/BaseClasses/TuningMonitor.mo b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Relay/BaseClasses/TuningMonitor.mo
new file mode 100644
index 00000000000..6e2cbc33369
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Relay/BaseClasses/TuningMonitor.mo
@@ -0,0 +1,170 @@
+within Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.BaseClasses;
+block TuningMonitor "Monitor the tuning process"
+  constant Modelica.Units.SI.Time minHorLen = 1E-5
+    "Minimum value for horizon length, used to guard against rounding errors";
+  Buildings.Controls.OBC.CDL.Interfaces.RealInput tOn(
+    final quantity="Time",
+    final unit="s",
+    min=100*Buildings.Controls.OBC.CDL.Constants.eps)
+    "Length for the on period"
+    annotation (Placement(transformation(extent={{-200,60},{-160,100}}),
+    iconTransformation(extent={{-140,40},{-100,80}})));
+  Buildings.Controls.OBC.CDL.Interfaces.RealInput tOff(
+    final quantity="Time",
+    final unit="s",
+    min=100*Buildings.Controls.OBC.CDL.Constants.eps)
+    "Length for the off period"
+    annotation (Placement(transformation(extent={{-200,-100},{-160,-60}}),
+    iconTransformation(extent={{-140,-80},{-100,-40}})));
+  Buildings.Controls.OBC.CDL.Interfaces.BooleanOutput triSta
+    "A boolean signal, true if the tuning starts"
+    annotation (Placement(transformation(extent={{160,40},{200,80}}),
+    iconTransformation(extent={{100,40},{140,80}})));
+  Buildings.Controls.OBC.CDL.Interfaces.BooleanOutput triEnd
+    "A boolean signal, true if the tuning completes"
+    annotation (Placement(transformation(extent={{160,-20},{200,20}}),
+    iconTransformation(extent={{100,-80},{140,-40}})));
+
+protected
+  Buildings.Controls.OBC.CDL.Reals.Max tMax
+    "Maximum value of the length for the on and Off period "
+    annotation (Placement(transformation(origin={-50,-10}, extent = {{-80, 60}, {-60, 80}})));
+  Buildings.Controls.OBC.CDL.Reals.Greater greThr
+    "Check if either the length for the on period or the length for the off period are larger than 0"
+    annotation (Placement(transformation(origin={-40,10}, extent = {{-40, 40}, {-20, 60}})));
+  Buildings.Controls.OBC.CDL.Reals.Sources.Constant minLen(
+    final k=minHorLen)
+    "Minimum value for the horizon length"
+    annotation (Placement(transformation(extent={{-140,90},{-120,110}})));
+  Buildings.Controls.OBC.CDL.Discrete.TriggeredSampler samAddtOntOff
+    "Sample the minimum period when the minimum period is greater than 0"
+    annotation (Placement(transformation(extent={{-40,-20},{-20,0}})));
+  Buildings.Controls.OBC.CDL.Reals.Greater tInc
+    "Check if either the length for the on period or the length for the off period increases after they both become positive"
+    annotation (Placement(transformation(extent={{40,20},{60,40}})));
+  Buildings.Controls.OBC.CDL.Reals.Add addtOntOff
+    "Block that calculates the sum of the length for the on period and the length for the off period"
+    annotation (Placement(transformation(extent={{-130,-20},{-110,0}})));
+  Buildings.Controls.OBC.CDL.Reals.Greater tDec
+    "Check if either the length for the on period or the length for the off period decreases after they both become positive"
+    annotation (Placement(transformation(extent={{40,-70},{60,-50}})));
+  Buildings.Controls.OBC.CDL.Logical.Or tCha
+    "Block that checks if the length for the on period or the length for the off period changes"
+    annotation (Placement(transformation(extent={{80,-10},{100,10}})));
+  Buildings.Controls.OBC.CDL.Logical.Edge edgTunSta
+   "Detect if the tuning process starts"
+    annotation (Placement(transformation(extent={{120,50},{140,70}})));
+  Buildings.Controls.OBC.CDL.Logical.Edge edgTunEnd
+   "Detect if the tuning process ends"
+    annotation (Placement(transformation(extent={{120,-10},{140,10}})));
+  Buildings.Controls.OBC.CDL.Reals.Multiply mul
+   "Calculate the product of two inputs"
+    annotation (Placement(transformation(extent={{-80,-20},{-60,0}})));
+  Buildings.Controls.OBC.CDL.Reals.Min tMin
+   "Minimum value of the length for the on and Off period"
+    annotation (Placement(transformation(extent={{-130,-90},{-110,-70}})));
+  Buildings.Controls.OBC.CDL.Reals.Greater greThr1
+    "Check if both the length for the on period and the length for the off period are larger than 0"
+    annotation (Placement(transformation(extent={{-80,-90},{-60,-70}})));
+  Buildings.Controls.OBC.CDL.Reals.Subtract sub "Find the input difference"
+    annotation (Placement(transformation(extent={{0,20},{20,40}})));
+  Buildings.Controls.OBC.CDL.Reals.Subtract sub1 "Find the input difference"
+    annotation (Placement(transformation(extent={{0,-70},{20,-50}})));
+
+equation
+  connect(tMax.u1, tOn) annotation (Line(points={{-132,66},{-150,66},{-150,80},{
+          -180,80}}, color={0,0,127}));
+  connect(tMax.u2, tOff) annotation (Line(points={{-132,54},{-140,54},{-140,-80},
+          {-180,-80}},color={0,0,127}));
+  connect(addtOntOff.u2, tOff) annotation (Line(points={{-132,-16},{-140,-16},{-140,
+          -80},{-180,-80}}, color={0,0,127}));
+  connect(addtOntOff.u1, tOn) annotation (Line(points={{-132,-4},{-150,-4},{-150,
+          80},{-180,80}}, color={0,0,127}));
+  connect(edgTunSta.y, triSta) annotation (Line(points={{142,60},{180,60}},
+         color={255,0,255}));
+  connect(tCha.y, edgTunEnd.u) annotation (Line(points={{102,0},{118,0}},
+          color={255,0,255}));
+  connect(edgTunEnd.y, triEnd) annotation (Line(points={{142,0},{180,0}},
+          color={255,0,255}));
+  connect(tMin.u1, tOn) annotation (Line(points={{-132,-74},{-150,-74},{-150,80},
+          {-180,80}}, color={0,0,127}));
+  connect(tMin.u2, tOff) annotation (Line(points={{-132,-86},{-140,-86},{-140,-80},
+          {-180,-80}}, color={0,0,127}));
+  connect(greThr.y, edgTunSta.u)
+    annotation (Line(points={{-58,60},{118,60}}, color={255,0,255}));
+  connect(greThr1.y, samAddtOntOff.trigger) annotation (Line(points={{-58,-80},{
+          -30,-80},{-30,-22}}, color={255,0,255}));
+  connect(addtOntOff.y, mul.u1) annotation (Line(points={{-108,-10},{-100,-10},{
+          -100,-4},{-82,-4}}, color={0,0,127}));
+  connect(mul.u2, tMin.y) annotation (Line(points={{-82,-16},{-100,-16},{-100,-80},
+          {-108,-80}},color={0,0,127}));
+  connect(samAddtOntOff.u, mul.y) annotation (Line(points={{-42,-10},{-58,-10}},
+          color={0,0,127}));
+  connect(tInc.y, tCha.u1) annotation (Line(points={{62,30},{70,30},{70,0},{78,0}},
+        color={255,0,255}));
+  connect(tDec.y, tCha.u2) annotation (Line(points={{62,-60},{70,-60},{70,-8},{78,
+          -8}}, color={255,0,255}));
+  connect(samAddtOntOff.y, sub.u2) annotation (Line(points={{-18,-10},{-10,-10},
+          {-10,24},{-2,24}}, color={0,0,127}));
+  connect(mul.y, sub.u1) annotation (Line(points={{-58,-10},{-50,-10},{-50,36},{
+          -2,36}}, color={0,0,127}));
+  connect(samAddtOntOff.y, sub1.u1) annotation (Line(points={{-18,-10},{-10,-10},
+          {-10,-54},{-2,-54}}, color={0,0,127}));
+  connect(mul.y, sub1.u2) annotation (Line(points={{-58,-10},{-50,-10},{-50,-66},
+          {-2,-66}}, color={0,0,127}));
+  connect(tMax.y, greThr.u1)
+    annotation (Line(points={{-108,60},{-82,60}}, color={0,0,127}));
+  connect(tMin.y, greThr1.u1)
+    annotation (Line(points={{-108,-80},{-82,-80}}, color={0,0,127}));
+  connect(minLen.y, greThr.u2) annotation (Line(points={{-118,100},{-90,100},{-90,
+          52},{-82,52}}, color={0,0,127}));
+  connect(minLen.y, greThr1.u2) annotation (Line(points={{-118,100},{-90,100},{-90,
+          -88},{-82,-88}}, color={0,0,127}));
+  connect(sub.y, tInc.u1)
+    annotation (Line(points={{22,30},{38,30}}, color={0,0,127}));
+  connect(sub1.y, tDec.u1)
+    annotation (Line(points={{22,-60},{38,-60}}, color={0,0,127}));
+  connect(minLen.y, tInc.u2) annotation (Line(points={{-118,100},{30,100},{30,22},
+          {38,22}}, color={0,0,127}));
+  connect(minLen.y, tDec.u2) annotation (Line(points={{-118,100},{30,100},{30,-68},
+          {38,-68}}, color={0,0,127}));
+annotation (defaultComponentName = "tunMon",
+        Diagram(
+           coordinateSystem(
+           extent={{-160,-120},{160,120}})),
+        Icon(coordinateSystem(preserveAspectRatio=false, extent={{-100,-100},{100,
+            100}}), graphics={
+        Rectangle(
+          extent={{-100,-100},{100,100}},
+          lineColor={0,0,127},
+          fillColor={255,255,255},
+          fillPattern=FillPattern.Solid),
+        Text(
+          extent={{-100,140},{100,100}},
+          textString="%name",
+          textColor={0,0,255})}),
+    Documentation(revisions="<html>
+<ul>
+<li>
+September 20, 2023, by Sen Huang:<br/>
+First implementation<br/>
+</li>
+</ul>
+</html>", info="<html>
+<p>
+This block detects when a PID tuning period should start and end.
+Specifically, the tuning period is triggered to begin when either <code>t<sub>on</sub></code>
+or <code>t<sub>off</sub></code> becomes positive.
+The tuning period is triggered to end when either <code>t<sub>on</sub></code>
+or <code>t<sub>off</sub></code> changes after the tuning period starts, as illustrated below:
+</p>
+<p align=\"center\">
+<img alt=\"image\" src=\"modelica://Buildings/Resources/Images/Controls/OBC/Utilities/PIDWithAutotuning/Relay/BaseClasses/algorithm.png\"/>
+</p>
+
+<h4>References</h4>
+<p>Josefin Berner (2017)
+\"Automatic Controller Tuning using Relay-based Model Identification.\"
+Department of Automatic Control, Lund Institute of Technology, Lund University. </p>
+</html>"));
+end TuningMonitor;
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Relay/BaseClasses/Validation/HalfPeriodRatio.mo b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Relay/BaseClasses/Validation/HalfPeriodRatio.mo
new file mode 100644
index 00000000000..546c4764781
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Relay/BaseClasses/Validation/HalfPeriodRatio.mo
@@ -0,0 +1,88 @@
+within Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.BaseClasses.Validation;
+model HalfPeriodRatio "Test model for calculating the half period ratio"
+  Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.BaseClasses.HalfPeriodRatio
+    halPerRat
+    "Calculate the half period ratio"
+    annotation (Placement(transformation(extent={{20,-10},{40,10}})));
+  Buildings.Controls.OBC.CDL.Reals.Sources.Pulse tOnSig1(
+    amplitude=-0.1,
+    width=0.1,
+    period=1,
+    offset=0.1)
+    "Block that generates signals for forming the signal of the length of On period"
+    annotation (Placement(transformation(extent={{-80,20},{-60,40}})));
+
+  Buildings.Controls.OBC.CDL.Reals.Sources.Pulse tOnSig2(
+    amplitude=-0.1,
+    width=0.9,
+    period=1,
+    offset=0.1)
+    "Block that generates signals for forming the signal of the length of On period"
+    annotation (Placement(transformation(extent={{-80,60},{-60,80}})));
+  Buildings.Controls.OBC.CDL.Reals.Add tOn
+    "The length of the on period"
+    annotation (Placement(transformation(extent={{-34,40},{-14,60}})));
+  Buildings.Controls.OBC.CDL.Reals.Sources.Pulse tOff(
+    amplitude=-0.5,
+    width=0.7,
+    period=1,
+    offset=0.5)
+    "The length of the off period"
+    annotation (Placement(transformation(extent={{-80,-70},{-60,-50}})));
+  Buildings.Controls.OBC.CDL.Logical.Sources.SampleTrigger samTri(period=1, shift=0.9)
+    "Stop signal for tuning"
+    annotation (Placement(transformation(extent={{-80,-20},{-60,0}})));
+equation
+  connect(tOff.y, halPerRat.tOff) annotation (Line(points={{-58,-60},{12,-60},{
+          12,-6},{18,-6}},    color={0,0,127}));
+  connect(tOnSig2.y, tOn.u1) annotation (Line(points={{-58,70},{-40,70},{-40,56},
+          {-36,56}}, color={0,0,127}));
+  connect(tOnSig1.y, tOn.u2) annotation (Line(points={{-58,30},{-40,30},{-40,44},
+          {-36,44}}, color={0,0,127}));
+  connect(tOn.y, halPerRat.tOn)
+    annotation (Line(points={{-12,50},{0,50},{0,6},{18,6}}, color={0,0,127}));
+  connect(samTri.y, halPerRat.TunEnd) annotation (Line(points={{-58,-10},{0,-10},
+          {0,0},{18,0}}, color={255,0,255}));
+  annotation (
+      experiment(
+      StopTime=1.0,
+      Tolerance=1e-06),
+    __Dymola_Commands(
+      file="modelica://Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/Relay/BaseClasses/Validation/HalfPeriodRatio.mos" "Simulate and plot"),
+      Icon(
+      coordinateSystem(
+        preserveAspectRatio=false,
+        extent={{-100,-100},{100,100}}),
+      graphics={
+        Ellipse(
+          lineColor={75,138,73},
+          fillColor={255,255,255},
+          fillPattern=FillPattern.Solid,
+          extent={{-100,-100},{100,100}}),
+        Polygon(
+          lineColor={0,0,255},
+          fillColor={75,138,73},
+          pattern=LinePattern.None,
+          fillPattern=FillPattern.Solid,
+          points={{-36,60},{64,0},{-36,-60},{-36,60}})}), Diagram(
+        coordinateSystem(preserveAspectRatio=false)),
+    Documentation(revisions="<html>
+<ul>
+<li>
+June 1, 2022, by Sen Huang:<br/>
+First implementation<br/>
+</li>
+</ul>
+</html>", info="<html>
+<p>
+Validation test for the block
+<a href=\"modelica://Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.BaseClasses.HalfPeriodRatio\">
+Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.BaseClasses.HalfPeriodRatio</a>.
+</p>
+<p>
+This testing scenario in this example is the same as that in <a href=\"modelica://Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.BaseClasses.Validation.TuningMonitor\">
+Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.BaseClasses.Validation.TunMonitor</a>.
+The lengths of the on period and the off period are sampled at <i>0.9</i>s to calculate the half period ratio.
+</p>
+</html>"));
+end HalfPeriodRatio;
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Relay/BaseClasses/Validation/NormalizedTimeDelay.mo b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Relay/BaseClasses/Validation/NormalizedTimeDelay.mo
new file mode 100644
index 00000000000..75bd3172753
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Relay/BaseClasses/Validation/NormalizedTimeDelay.mo
@@ -0,0 +1,56 @@
+within Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.BaseClasses.Validation;
+model NormalizedTimeDelay "Test model for calculating the normalized time delay"
+  Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.BaseClasses.NormalizedTimeDelay
+    norTimDel(gamma=3) "Calculate the normalized time delay"
+    annotation (Placement(transformation(extent={{-10,-10},{10,10}})));
+  Buildings.Controls.OBC.CDL.Reals.Sources.Pulse rho(
+    amplitude=1,
+    width=0.7,
+    period=1,
+    offset=1)
+    "Half period ratio"
+    annotation (Placement(transformation(extent={{-50,-10},{-30,10}})));
+equation
+  connect(rho.y, norTimDel.rho)
+    annotation (Line(points={{-28,0},{-12,0}}, color={0,0,127}));
+  annotation (
+      experiment(
+      StopTime=1.0,
+      Tolerance=1e-06),
+    __Dymola_Commands(
+      file="modelica://Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/Relay/BaseClasses/Validation/NormalizedTimeDelay.mos" "Simulate and plot"),
+      Icon(
+      coordinateSystem(
+        preserveAspectRatio=false,
+        extent={{-100,-100},{100,100}}),
+      graphics={
+        Ellipse(
+          lineColor={75,138,73},
+          fillColor={255,255,255},
+          fillPattern=FillPattern.Solid,
+          extent={{-100,-100},{100,100}}),
+        Polygon(
+          lineColor={0,0,255},
+          fillColor={75,138,73},
+          pattern=LinePattern.None,
+          fillPattern=FillPattern.Solid,
+          points={{-36,60},{64,0},{-36,-60},{-36,60}})}), Diagram(
+        coordinateSystem(preserveAspectRatio=false)),
+    Documentation(revisions="<html>
+<ul>
+<li>
+June 1, 2022, by Sen Huang:<br/>
+First implementation<br/>
+</li>
+</ul>
+</html>", info="<html>
+<p>
+Validation test for the block
+<a href=\"modelica://Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.BaseClasses.NormalizedTimeDelay\">
+Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.BaseClasses.NormalizedTimeDelay</a>.
+</p>
+<p>
+The input <code>rho</code> is a step signal that changes from <i>2</i> to <i>1</i> at <i>0.7</i>s.
+</p>
+</html>"));
+end NormalizedTimeDelay;
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Relay/BaseClasses/Validation/OnOffPeriod.mo b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Relay/BaseClasses/Validation/OnOffPeriod.mo
new file mode 100644
index 00000000000..065b1fe8ef4
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Relay/BaseClasses/Validation/OnOffPeriod.mo
@@ -0,0 +1,75 @@
+within Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.BaseClasses.Validation;
+model OnOffPeriod "Test model for calculating the length of the on period and the off period"
+  Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.BaseClasses.OnOffPeriod
+    onOffPer "Calculate the length of the on period and the off period"
+    annotation (Placement(transformation(extent={{-10,-10},{10,10}})));
+  Buildings.Controls.OBC.CDL.Reals.Sources.CivilTime modTim
+    "Simulation time"
+    annotation (Placement(transformation(extent={{-60,10},{-40,30}})));
+  Buildings.Controls.OBC.CDL.Logical.Sources.Pulse relSwi(
+    width=0.2,
+    period=0.8,
+    shift=-0.1) "Control switch output"
+    annotation (Placement(transformation(extent={{-60,-20},{-40,0}})));
+  Buildings.Controls.OBC.CDL.Logical.Sources.Pulse retSig(
+    width=0.1,
+    period=1,
+    shift=-0.1) "Reset signal"
+    annotation (Placement(transformation(extent={{-60,-60},{-40,-40}})));
+equation
+  connect(modTim.y, onOffPer.tim) annotation (Line(points={{-38,20},{-20,20},{-20,
+          6},{-12,6}}, color={0,0,127}));
+  connect(relSwi.y, onOffPer.on) annotation (Line(points={{-38,-10},{-20,-10},{
+          -20,0},{-12,0}}, color={255,0,255}));
+  connect(onOffPer.trigger, retSig.y) annotation (Line(points={{-12,-6},{-16,-6},
+          {-16,-50},{-38,-50}}, color={255,0,255}));
+  annotation (
+      experiment(
+      StopTime=1.0,
+      Tolerance=1e-06),
+    __Dymola_Commands(
+      file="modelica://Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/Relay/BaseClasses/Validation/OnOffPeriod.mos" "Simulate and plot"),
+      Icon(
+      coordinateSystem(
+        preserveAspectRatio=false,
+        extent={{-100,-100},{100,100}}),
+      graphics={
+        Ellipse(
+          lineColor={75,138,73},
+          fillColor={255,255,255},
+          fillPattern=FillPattern.Solid,
+          extent={{-100,-100},{100,100}}),
+        Polygon(
+          lineColor={0,0,255},
+          fillColor={75,138,73},
+          pattern=LinePattern.None,
+          fillPattern=FillPattern.Solid,
+          points={{-36,60},{64,0},{-36,-60},{-36,60}})}),Diagram(
+        coordinateSystem(preserveAspectRatio=false)),
+    Documentation(revisions="<html>
+<ul>
+<li>
+June 1, 2022, by Sen Huang:<br/>
+First implementation<br/>
+</li>
+</ul>
+</html>", info="<html>
+<p>
+Validation test for the block
+<a href=\"modelica://Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.BaseClasses.OnOffPeriod\">
+Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.BaseClasses.OnOffPeriod</a>.
+</p>
+This example considers a relay switch output from a relay controller, <code>relSwi</code>.
+<ul>
+<li>
+At <i>0.06</i>s, <code>relSwi</code> changes from On to Off.
+</li>
+<li>
+At <i>0.7</i>s, <code>relSwi</code> changes into On.
+</li>
+<li>
+At <i>0.86</i>s, <code>relSwi</code> changes into Off.
+</li>
+</ul>
+</html>"));
+end OnOffPeriod;
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Relay/BaseClasses/Validation/SamplerWithResetThreshold.mo b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Relay/BaseClasses/Validation/SamplerWithResetThreshold.mo
new file mode 100644
index 00000000000..2928afa6b7b
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Relay/BaseClasses/Validation/SamplerWithResetThreshold.mo
@@ -0,0 +1,69 @@
+within Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.BaseClasses.Validation;
+model SamplerWithResetThreshold
+  "Test model for a sampler with a reset and a threshold"
+  Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.BaseClasses.SamplerWithResetThreshold
+    sam(lowLim=0, y_reset=0) "Sampler"
+    annotation (Placement(transformation(extent={{-10,-10},{10,10}})));
+  Buildings.Controls.OBC.CDL.Logical.Sources.Pulse resSig(
+    width=0.1,
+    period=1,
+    shift=-0.1) "Reset signal"
+    annotation (Placement(transformation(extent={{-60,-50},{-40,-30}})));
+  Buildings.Controls.OBC.CDL.Reals.Sources.Pulse u(
+    amplitude=1,
+    width=0.7,
+    period=0.5,
+    offset=-0.5) "Singal to be sampled"
+    annotation (Placement(transformation(extent={{-60,20},{-40,40}})));
+equation
+  connect(u.y, sam.u) annotation (Line(points={{-38,30},{-20,30},{-20,6},{-12,6}},
+        color={0,0,127}));
+  connect(resSig.y, sam.trigger) annotation (Line(points={{-38,-40},{-20,-40},{-20,
+          -6},{-12,-6}}, color={255,0,255}));
+  annotation (
+      experiment(
+      StopTime=1.0,
+      Tolerance=1e-06),
+    __Dymola_Commands(
+      file="modelica://Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/Relay/BaseClasses/Validation/SamplerWithResetThreshold.mos" "Simulate and plot"),
+      Icon(
+      coordinateSystem(
+        preserveAspectRatio=false,
+        extent={{-100,-100},{100,100}}),
+      graphics={
+        Ellipse(
+          lineColor={75,138,73},
+          fillColor={255,255,255},
+          fillPattern=FillPattern.Solid,
+          extent={{-100,-100},{100,100}}),
+        Polygon(
+          lineColor={0,0,255},
+          fillColor={75,138,73},
+          pattern=LinePattern.None,
+          fillPattern=FillPattern.Solid,
+          points={{-36,60},{64,0},{-36,-60},{-36,60}})}),Diagram(
+        coordinateSystem(preserveAspectRatio=false)),
+    Documentation(revisions="<html>
+<ul>
+<li>
+September 20, 2023, by Sen Huang:<br/>
+First implementation<br/>
+</li>
+</ul>
+</html>", info="<html>
+<p>
+Validation test for the block
+<a href=\"modelica://Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.BaseClasses.SamplerWithResetThreshold\">
+Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.BaseClasses.SamplerWithResetThreshold</a>.
+</p>
+This example considers a real input, <code>u</code>, and a boolean input, <code>resSig</code>
+<ul>
+<li>
+At <i>0.5</i>s, <code>u</code> changes from <i>0</i> to <i>1</i>, triggering the sampling;
+</li>
+<li>
+At <i>0.9</i>s, <code>resSig</code> changes into On, triggering the reset.
+</li>
+</ul>
+</html>"));
+end SamplerWithResetThreshold;
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Relay/BaseClasses/Validation/TuningMonitor.mo b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Relay/BaseClasses/Validation/TuningMonitor.mo
new file mode 100644
index 00000000000..0d7604dca79
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Relay/BaseClasses/Validation/TuningMonitor.mo
@@ -0,0 +1,105 @@
+within Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.BaseClasses.Validation;
+model TuningMonitor "Test model for the tuning period management"
+  Buildings.Controls.OBC.CDL.Reals.Sources.Pulse tOnSig1(
+    amplitude=-0.1,
+    width=0.1,
+    period=1,
+    offset=0.1)
+    "Block that generates signals for forming the signal of the length of On period"
+    annotation (Placement(transformation(extent={{-80,20},{-60,40}})));
+
+  Buildings.Controls.OBC.CDL.Reals.Sources.Pulse tOnSig2(
+    amplitude=-0.1,
+    width=0.9,
+    period=1,
+    offset=0.1)
+    "Block that generates signals for forming the signal of the length of On period"
+    annotation (Placement(transformation(extent={{-80,60},{-60,80}})));
+  Buildings.Controls.OBC.CDL.Reals.Add tOn
+    "The length of the on period"
+    annotation (Placement(transformation(extent={{-34,40},{-14,60}})));
+  Buildings.Controls.OBC.CDL.Reals.Sources.Pulse tOff(
+    amplitude=-0.5,
+    width=0.7,
+    period=1,
+    offset=0.5)
+    "The length of the off period"
+    annotation (Placement(transformation(extent={{-80,-40},{-60,-20}})));
+  Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.BaseClasses.TuningMonitor
+    tunMan "Manage the tuning process"
+    annotation (Placement(transformation(extent={{20,-10},{40,10}})));
+  Buildings.Controls.OBC.CDL.Logical.Latch tunSta "Display when tuning process starts"
+    annotation (Placement(transformation(extent={{60,20},{80,40}})));
+  Buildings.Controls.OBC.CDL.Logical.Latch tunEnd "Display when tuning process ends"
+    annotation (Placement(transformation(extent={{60,-40},{80,-20}})));
+  Buildings.Controls.OBC.CDL.Logical.Sources.Constant con(k=false) "False signal"
+    annotation (Placement(transformation(extent={{-20,-70},{0,-50}})));
+equation
+  connect(tOnSig2.y, tOn.u1) annotation (Line(points={{-58,70},{-40,70},{-40,56},
+          {-36,56}}, color={0,0,127}));
+  connect(tOnSig1.y, tOn.u2) annotation (Line(points={{-58,30},{-40,30},{-40,44},
+          {-36,44}}, color={0,0,127}));
+  connect(tunMan.tOn, tOn.y)
+    annotation (Line(points={{18,6},{0,6},{0,50},{-12,50}}, color={0,0,127}));
+  connect(tunMan.tOff, tOff.y) annotation (Line(points={{18,-6},{0,-6},{0,-30},
+          {-58,-30}}, color={0,0,127}));
+  connect(con.y, tunSta.clr) annotation (Line(points={{2,-60},{52,-60},{52,24},
+          {58,24}}, color={255,0,255}));
+  connect(tunEnd.clr, con.y) annotation (Line(points={{58,-36},{52,-36},{52,-60},
+          {2,-60}}, color={255,0,255}));
+  connect(tunMan.triSta, tunSta.u) annotation (Line(points={{42,6},{48,6},{48,
+          30},{58,30}}, color={255,0,255}));
+  connect(tunMan.triEnd, tunEnd.u) annotation (Line(points={{42,-6},{48,-6},{48,
+          -30},{58,-30}}, color={255,0,255}));
+  annotation (
+      experiment(
+      StopTime=1.0,
+      Tolerance=1e-06),
+    __Dymola_Commands(
+      file="modelica://Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/Relay/BaseClasses/Validation/TuningMonitor.mos" "Simulate and plot"),
+      Icon(
+      coordinateSystem(
+        preserveAspectRatio=false,
+        extent={{-100,-100},{100,100}}),
+      graphics={
+        Ellipse(
+          lineColor={75,138,73},
+          fillColor={255,255,255},
+          fillPattern=FillPattern.Solid,
+          extent={{-100,-100},{100,100}}),
+        Polygon(
+          lineColor={0,0,255},
+          fillColor={75,138,73},
+          pattern=LinePattern.None,
+          fillPattern=FillPattern.Solid,
+          points={{-36,60},{64,0},{-36,-60},{-36,60}})}), Diagram(
+        coordinateSystem(preserveAspectRatio=false)),
+    Documentation(revisions="<html>
+<ul>
+<li>
+September 20, 2023, by Sen Huang:<br/>
+First implementation<br/>
+</li>
+</ul>
+</html>", info="<html>
+<p>
+Validation test for the block
+<a href=\"modelica://Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.BaseClasses.TuningMonitor\">
+Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.BaseClasses.TuningMonitor</a>.
+</p>
+<ul>
+<li>
+At <i>0.1</i>s, the length of the on period becomes <i>0.1</i>s,
+triggering the tuning period to start.
+</li>
+<li>
+At <i>0.7</i>s, the length of the off period becomes <i>0.5</i>s.
+</li>
+<li>
+At <i>0.9</i>s, the length of the on period changes from <i>0.1</i>s to <i>0.9</i>s
+while that of the off period remains <i>0.5</i>s.
+This triggers the tuning period to end.
+</li>
+</ul>
+</html>"));
+end TuningMonitor;
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Relay/BaseClasses/Validation/package.mo b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Relay/BaseClasses/Validation/package.mo
new file mode 100644
index 00000000000..612002976bb
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Relay/BaseClasses/Validation/package.mo
@@ -0,0 +1,32 @@
+within Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.BaseClasses;
+package Validation "Collection of validation models"
+  annotation (
+    preferredView="info",
+    Documentation(
+      info="<html>
+<p>
+This package contains models that validate the blocks in
+<a href=\"modelica://Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.BaseClasses\">
+Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.BaseClasses</a>.
+</p>
+</html>"),
+    Icon(
+      graphics={
+        Rectangle(
+          lineColor={200,200,200},
+          fillColor={248,248,248},
+          fillPattern=FillPattern.HorizontalCylinder,
+          extent={{-100.0,-100.0},{100.0,100.0}},
+          radius=25.0),
+        Rectangle(
+          lineColor={128,128,128},
+          extent={{-100.0,-100.0},{100.0,100.0}},
+          radius=25.0),
+        Polygon(
+          origin={8.0,14.0},
+          lineColor={78,138,73},
+          fillColor={78,138,73},
+          pattern=LinePattern.None,
+          fillPattern=FillPattern.Solid,
+          points={{-58.0,46.0},{42.0,-14.0},{-58.0,-74.0},{-58.0,46.0}})}));
+end Validation;
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Relay/BaseClasses/Validation/package.order b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Relay/BaseClasses/Validation/package.order
new file mode 100644
index 00000000000..07bed6f4f00
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Relay/BaseClasses/Validation/package.order
@@ -0,0 +1,5 @@
+HalfPeriodRatio
+NormalizedTimeDelay
+OnOffPeriod
+SamplerWithResetThreshold
+TuningMonitor
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Relay/BaseClasses/package.mo b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Relay/BaseClasses/package.mo
new file mode 100644
index 00000000000..76153a12298
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Relay/BaseClasses/package.mo
@@ -0,0 +1,21 @@
+within Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay;
+package BaseClasses "Package with base classes"
+    annotation (Icon(graphics={
+        Rectangle(
+          lineColor={200,200,200},
+          fillColor={248,248,248},
+          fillPattern=FillPattern.HorizontalCylinder,
+          extent={{-100,-100},{100,100}},
+          radius=25.0),
+        Ellipse(
+          extent={{-30,-32},{30,28}},
+          lineColor={128,128,128},
+          fillColor={255,255,255},
+          fillPattern=FillPattern.Solid)}), Documentation(info="<html>
+<p>
+This package contains base classes to construct blocks in
+<a href=\"modelica://Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay\">
+Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay</a>.
+</p>
+</html>"));
+end BaseClasses;
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Relay/BaseClasses/package.order b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Relay/BaseClasses/package.order
new file mode 100644
index 00000000000..db7cea3e9e5
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Relay/BaseClasses/package.order
@@ -0,0 +1,6 @@
+HalfPeriodRatio
+NormalizedTimeDelay
+OnOffPeriod
+SamplerWithResetThreshold
+TuningMonitor
+Validation
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Relay/Controller.mo b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Relay/Controller.mo
new file mode 100644
index 00000000000..6ca070618df
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Relay/Controller.mo
@@ -0,0 +1,223 @@
+within Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay;
+block Controller
+  "Output relay signals for tuning PID controllers"
+  parameter Real r(min=100*Buildings.Controls.OBC.CDL.Constants.eps) = 1
+    "Typical range of control error, used for scaling the control error";
+  parameter Real yHig(
+    final min=1E-6)
+    "Higher value for the relay output";
+  parameter Real yLow(
+    final min=1E-6,
+    final max=yHig)
+    "Lower value for the relay output";
+  parameter Real deaBan(min=1E-6)
+    "Deadband for holding the relay output";
+  parameter Boolean reverseActing=true
+    "Set to true for reverse acting, or false for direct acting control action";
+
+  Buildings.Controls.OBC.CDL.Interfaces.RealInput u_s
+    "Setpoint input signal"
+    annotation (Placement(transformation(extent={{-140,-20},{-100,20}}),
+    iconTransformation(extent={{-140,-20},{-100,20}})));
+  Buildings.Controls.OBC.CDL.Interfaces.RealInput u_m
+    "Measurement input signal"
+    annotation (Placement(transformation(origin={0,-120},extent={{20,-20},{-20,20}},rotation=270),
+    iconTransformation(extent={{20,-20},{-20,20}},rotation=270,origin={0,-120})));
+  Buildings.Controls.OBC.CDL.Interfaces.BooleanInput trigger
+    "Connector for enabling the relay controller"
+    annotation (Placement(transformation(extent={{-20,-20},{20,20}},rotation=90,origin={-80,-120}),
+    iconTransformation(extent={{-20,-20},{20,20}},rotation=90,origin={-60,-120})));
+  Buildings.Controls.OBC.CDL.Interfaces.RealOutput y
+    "Control output"
+    annotation (Placement(transformation(extent={{100,30},{140,70}}),
+        iconTransformation(extent={{100,40},{140,80}})));
+  Buildings.Controls.OBC.CDL.Interfaces.BooleanOutput yOn
+    "Relay switch output, true when control output switches to the higher value"
+    annotation (Placement(transformation(extent={{100,-80},{140,-40}}),
+        iconTransformation(extent={{100,-80},{140,-40}})));
+  Buildings.Controls.OBC.CDL.Interfaces.RealOutput yDif
+    "Input difference, measurement - setpoint"
+    annotation (Placement(transformation(extent={{100,-20},{140,20}}),
+        iconTransformation(extent={{100,-20},{140,20}})));
+
+protected
+  Buildings.Controls.OBC.CDL.Reals.Switch swi
+    "Switch between a higher value and a lower value"
+    annotation (Placement(transformation(extent={{60,40},{80,60}})));
+  Buildings.Controls.OBC.CDL.Reals.Sources.Constant higVal(
+    final k=yHig)
+    "Higher value for the output"
+    annotation (Placement(transformation(extent={{-80,60},{-60,80}})));
+  Buildings.Controls.OBC.CDL.Reals.Sources.Constant lowVal(
+    final k=yLow)
+    "Lower value for the output"
+    annotation (Placement(transformation(extent={{-80,20},{-60,40}})));
+  Buildings.Controls.OBC.CDL.Reals.Switch swi1
+    "Switch between a higher value and a lower value"
+    annotation (Placement(transformation(extent={{-10,-10},{10,10}},
+    origin={-50,-40})));
+  Buildings.Controls.OBC.CDL.Reals.Subtract revActErr if reverseActing
+    "Control error when reverse acting, setpoint - measurement"
+    annotation (Placement(transformation(extent={{-20,-40},{0,-20}})));
+  Buildings.Controls.OBC.CDL.Reals.Hysteresis hys(
+    final uLow=-deaBan,
+    final uHigh=deaBan,
+    final pre_y_start=true)
+    "Check if the input difference exceeds the thresholds, by default the relay control is on"
+    annotation (Placement(transformation(extent={{60,-70},{80,-50}})));
+  Buildings.Controls.OBC.CDL.Reals.Subtract dirActErr if not reverseActing
+    "Control error when direct acting, measurement - setpoint"
+    annotation (Placement(transformation(extent={{-20,-80},{0,-60}})));
+  Buildings.Controls.OBC.CDL.Reals.Subtract meaSetDif
+    "Inputs difference, (measurement - setpoint)"
+    annotation (Placement(transformation(extent={{-20,-4},{0,16}})));
+  Buildings.Controls.OBC.CDL.Reals.MultiplyByParameter gaiYDif(final k=1/r)
+    "Gain to normalized control error by r"
+    annotation (Placement(transformation(extent={{20,-4},{40,16}})));
+  Buildings.Controls.OBC.CDL.Reals.MultiplyByParameter gaiRevActErr(final k=1/r) if reverseActing
+    "Gain to normalized control error by r"
+    annotation (Placement(transformation(extent={{20,-40},{40,-20}})));
+  Buildings.Controls.OBC.CDL.Reals.MultiplyByParameter gaiDirActErr(final k=1/r) if not reverseActing
+    "Gain to normalized control error by r"
+    annotation (Placement(transformation(extent={{20,-80},{40,-60}})));
+equation
+  connect(swi.y, y)
+    annotation (Line(points={{82,50},{120,50}}, color={0,0,127}));
+  connect(higVal.y, swi.u1)
+    annotation (Line(points={{-58,70},{-20,70},{-20,58},{58,58}},color={0,0,127}));
+  connect(lowVal.y, swi.u3) annotation (Line(points={{-58,30},{-20,30},{-20,42},
+          {58,42}},color={0,0,127}));
+  connect(swi1.u3, u_s) annotation (Line(points={{-62,-48},{-90,-48},{-90,0},{-120,
+          0}}, color={0,0,127}));
+  connect(trigger, swi1.u2) annotation (Line(points={{-80,-120},{-80,-40},{-62,-40}},
+          color={255,0,255}));
+  connect(u_m, swi1.u1) annotation (Line(points={{0,-120},{0,-90},{-70,-90},{-70,
+          -32},{-62,-32}}, color={0,0,127}));
+  connect(u_s, revActErr.u1) annotation (Line(points={{-120,0},{-90,0},{-90,-24},
+          {-22,-24}}, color={0,0,127}));
+  connect(u_s, dirActErr.u2) annotation (Line(points={{-120,0},{-90,0},{-90,-76},
+          {-22,-76}}, color={0,0,127}));
+  connect(swi1.y, revActErr.u2) annotation (Line(points={{-38,-40},{-30,-40},{-30,
+          -36},{-22,-36}}, color={0,0,127}));
+  connect(swi1.y, dirActErr.u1) annotation (Line(points={{-38,-40},{-30,-40},{-30,
+          -64},{-22,-64}}, color={0,0,127}));
+  connect(hys.y, swi.u2) annotation (Line(points={{82,-60},{90,-60},{90,34},{50,
+          34},{50,50},{58,50}}, color={255,0,255}));
+  connect(hys.y, yOn) annotation (Line(points={{82,-60},{120,-60}}, color={255,0,255}));
+  connect(swi1.y, meaSetDif.u1) annotation (Line(points={{-38,-40},{-30,-40},{-30,
+          12},{-22,12}}, color={0,0,127}));
+  connect(u_s, meaSetDif.u2) annotation (Line(points={{-120,0},{-22,0}},
+                color={0,0,127}));
+  connect(meaSetDif.y, gaiYDif.u)
+    annotation (Line(points={{2,6},{18,6}}, color={0,0,127}));
+  connect(gaiYDif.y, yDif)
+    annotation (Line(points={{42,6},{60,6},{60,0},{120,0}}, color={0,0,127}));
+  connect(revActErr.y, gaiRevActErr.u)
+    annotation (Line(points={{2,-30},{18,-30}}, color={0,0,127}));
+  connect(gaiRevActErr.y, hys.u) annotation (Line(points={{42,-30},{48,-30},{48,
+          -60},{58,-60}}, color={0,0,127}));
+  connect(dirActErr.y, gaiDirActErr.u)
+    annotation (Line(points={{2,-70},{18,-70}}, color={0,0,127}));
+  connect(gaiDirActErr.y, hys.u) annotation (Line(points={{42,-70},{48,-70},{48,
+          -60},{58,-60}}, color={0,0,127}));
+annotation (defaultComponentName = "relCon",
+        Icon(coordinateSystem(preserveAspectRatio=false), graphics={
+        Rectangle(
+          extent={{-100,-100},{100,100}},
+          lineColor={0,0,127},
+          fillColor={255,255,255},
+          fillPattern=FillPattern.Solid),
+        Text(
+          extent={{-100,140},{100,100}},
+          textString="%name",
+          textColor={0,0,255}),
+        Polygon(
+          points={{-70,92},{-78,70},{-62,70},{-70,92}},
+          lineColor={192,192,192},
+          fillColor={192,192,192},
+          fillPattern=FillPattern.Solid),
+        Polygon(
+          points={{84,-70},{62,-62},{62,-78},{84,-70}},
+          lineColor={192,192,192},
+          fillColor={192,192,192},
+          fillPattern=FillPattern.Solid),
+        Line(
+          points={{-70,78},{-70,-90}},
+          color={192,192,192}),
+        Line(
+          points={{-80,-70},{80,-70}},
+          color={192,192,192}),
+        Text(
+          extent={{-62,-10},{84,-52}},
+          textColor={0,0,0},
+          fillPattern=FillPattern.Solid,
+          fillColor={175,175,175},
+          textString="Relay"),
+        Line(points={{-70,24},{-34,24},{-34,58},{38,58},{38,24},{66,24}}, color=
+             {28,108,200})}), Diagram(
+        coordinateSystem(preserveAspectRatio=false)),
+Documentation(info="<html>
+<p>
+This block generates a relay output <code>yDif</code> which equals to
+<code>u_m - u_s</code>. It also generates the control output <code>y</code>,
+and a boolean relay switch output <code>yOn</code>,
+which are calculated as below.
+</p>
+<p>
+Step 1: Calculate control error,
+</p>
+<ul>
+<li>
+If the parameter <code>reverseActing = true</code>, set the control error to
+<code>err = u_s - u_m</code>,
+else set it to <code>err = u_m - u_s</code>.
+</li>
+</ul>
+<p>
+Step 2: Calculate <code>y</code> and <code>yOn</code>,
+</p>
+<ul>
+<li>
+If <code>err &gt; deaBan</code> and <code>trigger</code> is <code>true</code>,
+then <code>y = yHig</code> and <code>yOn = true</code>,
+</li>
+<li>
+else if <code>err &lt; -deaBan</code> and <code>trigger</code> is <code>true</code>,
+then <code>y = yLow</code> and
+<code>yOn = false</code>,
+</li>
+<li>
+else, <code>y</code> and <code>yOn</code> are kept as the initial values.
+</li>
+</ul>
+<p>
+where <code>deaBan</code> is a dead band, <code>yHig</code>
+and <code>yLow</code>
+are the higher value and the lower value of the output <code>y</code>, respectively.
+</p>
+
+<h4>References</h4>
+<p>Josefin Berner (2017)
+\"Automatic Controller Tuning using Relay-based Model Identification.\"
+Department of Automatic Control, Lund Institute of Technology, Lund University.</p>
+</html>", revisions="<html>
+<ul>
+<li>
+March 8, 2024, by Michael Wetter:<br/>
+Changed deadband to be consistent within the package.
+</li>
+<li>
+March 8, 2024, by Michael Wetter:<br/>
+Propagated range of control error <code>r</code> to relay controller.
+</li>
+<li>
+December 1, 2023, by Sen Huang:<br/>
+Add a parameter <code>reverseActing</code><br/>
+</li>
+<li>
+June 1, 2022, by Sen Huang:<br/>
+First implementation<br/>
+</li>
+</ul>
+</html>"));
+end Controller;
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Relay/ResponseProcess.mo b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Relay/ResponseProcess.mo
new file mode 100644
index 00000000000..554be4a30ae
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Relay/ResponseProcess.mo
@@ -0,0 +1,161 @@
+within Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay;
+block ResponseProcess
+  "Calculate the lengths of the on and off period, the half period ratio, and the times when the tuning starts and ends"
+  parameter Real yHig(min=1E-6)
+    "Higher value for the output";
+  parameter Real yLow(min=1E-6)
+    "Lower value for the output";
+  Buildings.Controls.OBC.CDL.Interfaces.BooleanInput on
+    "Relay switch. True: tuning on perid, False: tuning off period"
+    annotation (Placement(transformation(extent={{-140,-20},{-100,20}}),
+        iconTransformation(extent={{-140,-20},{-100,20}})));
+  Buildings.Controls.OBC.CDL.Interfaces.RealInput tim(
+    final quantity="Time",
+    final unit="s")
+    "Simulation time"
+    annotation (Placement(transformation(extent={{-140,40},{-100,80}}),
+        iconTransformation(extent={{-140,40},{-100,80}})));
+  Buildings.Controls.OBC.CDL.Interfaces.BooleanInput trigger
+    "Reset the output when trigger becomes true"
+    annotation (Placement(transformation(extent={{-140,-80},{-100,-40}}),
+        iconTransformation(extent={{-140,-80},{-100,-40}})));
+  Buildings.Controls.OBC.CDL.Interfaces.RealOutput tOn(
+    final quantity="Time",
+    final unit="s",
+    min=100*Buildings.Controls.OBC.CDL.Constants.eps)
+    "Length of the on period"
+    annotation (Placement(transformation(extent={{100,60},{140,100}})));
+  Buildings.Controls.OBC.CDL.Interfaces.RealOutput tOff(
+    final quantity="Time",
+    final unit="s",
+    min=100*Buildings.Controls.OBC.CDL.Constants.eps)
+    "Length of the off period"
+    annotation (Placement(transformation(extent={{100,20},{140,60}})));
+  Buildings.Controls.OBC.CDL.Interfaces.BooleanOutput triSta
+    "True: the tuning starts"
+    annotation (Placement(transformation(extent={{100,-60},{140,-20}})));
+  Buildings.Controls.OBC.CDL.Interfaces.BooleanOutput triEnd
+    "True: the tuning ends"
+    annotation (Placement(transformation(extent={{100,-100},{140,-60}})));
+  Buildings.Controls.OBC.CDL.Interfaces.RealOutput tau
+    "Normalized time delay"
+    annotation (Placement(transformation(extent={{100,-20},{140,20}}),
+        iconTransformation(extent={{100,-20},{140,20}})));
+
+protected
+  Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.BaseClasses.OnOffPeriod onOffPer
+    "Block that calculates the length of the on period and the off period"
+    annotation (Placement(transformation(extent={{-80,-10},{-60,10}})));
+  Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.BaseClasses.HalfPeriodRatio halPerRatio
+    "Block that calculates the half period ratio"
+    annotation (Placement(transformation(extent={{20,-10},{40,10}})));
+  Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.BaseClasses.NormalizedTimeDelay norTimDel(
+     final gamma=max(yHig, yLow)/min(yLow, yHig))
+    "Block that calculates the normalized time delay"
+    annotation (Placement(transformation(extent={{60,-10},{80,10}})));
+  Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.BaseClasses.TuningMonitor
+    tunMon "Block that detects when the tuning period starts and ends"
+    annotation (Placement(transformation(extent={{-20,-50},{0,-30}})));
+
+equation
+  connect(onOffPer.on,on)  annotation (Line(points={{-82,0},{-120,0}},
+               color={255,0,255}));
+  connect(onOffPer.tim, tim) annotation (Line(points={{-82,6},{-90,6},{-90,60},
+          {-120,60}}, color={0,0,127}));
+  connect(onOffPer.tOn, halPerRatio.tOn) annotation (Line(points={{-58,4},{-30,
+          4},{-30,6},{18,6}}, color={0,0,127}));
+  connect(onOffPer.tOff, halPerRatio.tOff) annotation (Line(points={{-58,-4},{
+          -40,-4},{-40,-6},{18,-6}}, color={0,0,127}));
+  connect(halPerRatio.rho, norTimDel.rho) annotation (Line(points={{42,0},{58,0}},
+          color={0,0,127}));
+  connect(tOn, halPerRatio.tOn) annotation (Line(points={{120,80},{-30,80},{-30,
+          6},{18,6}}, color={0,0,127}));
+  connect(tOff, halPerRatio.tOff) annotation (Line(points={{120,40},{-40,40},{
+          -40,-6},{18,-6}}, color={0,0,127}));
+  connect(norTimDel.tau, tau) annotation (Line(points={{82,0},{120,0}},
+          color={0,0,127}));
+  connect(tunMon.triSta, triSta) annotation (Line(points={{2,-34},{80,-34},{80,
+          -40},{120,-40}}, color={255,0,255}));
+  connect(tunMon.triEnd, triEnd) annotation (Line(points={{2,-46},{60,-46},{60,
+          -80},{120,-80}}, color={255,0,255}));
+  connect(tunMon.tOn, onOffPer.tOn) annotation (Line(points={{-22,-34},{-30,-34},
+          {-30,4},{-58,4}},   color={0,0,127}));
+  connect(tunMon.tOff, onOffPer.tOff) annotation (Line(points={{-22,-46},{-40,
+          -46},{-40,-4},{-58,-4}}, color={0,0,127}));
+  connect(halPerRatio.TunEnd, tunMon.triEnd) annotation (Line(points={{18,0},{
+          10,0},{10,-46},{2,-46}},  color={255,0,255}));
+  connect(onOffPer.trigger, trigger) annotation (Line(points={{-82,-6},{-90,-6},
+          {-90,-60},{-120,-60}}, color={255,0,255}));
+  annotation (
+        defaultComponentName = "resPro",
+        Icon(coordinateSystem(preserveAspectRatio=false), graphics={
+        Rectangle(
+          extent={{-100,-100},{100,100}},
+          lineColor={0,0,127},
+          fillColor={255,255,255},
+          fillPattern=FillPattern.Solid),
+        Text(
+          extent={{-100,140},{100,100}},
+          textString="%name",
+          textColor={0,0,255}),
+        Polygon(
+          points={{-54,56},{-62,34},{-46,34},{-54,56}},
+          lineColor={192,192,192},
+          fillColor={192,192,192},
+          fillPattern=FillPattern.Solid),
+        Polygon(
+          points={{34,-58},{26,-36},{42,-36},{34,-58}},
+          lineColor={192,192,192},
+          fillColor={192,192,192},
+          fillPattern=FillPattern.Solid),
+        Line(points={{-54,60},{30,60},{34,60},{34,-36}}, color={28,108,200}),
+        Line(points={{-54,34},{-54,-64},{36,-64}}, color={28,108,200})}),
+        Diagram(coordinateSystem(preserveAspectRatio=false)),
+    Documentation(revisions="<html>
+<ul>
+<li>
+June 1, 2022, by Sen Huang:<br/>
+First implementation<br/>
+</li>
+</ul>
+</html>", info="<html>
+<p>
+This block processes a relay switch output signal and calculates:
+</p>
+<ol>
+<li>
+the length of the on period;
+</li>
+<li>
+the length of the off period;
+</li>
+<li>
+the normalized time delay of the responses;
+</li>
+<li>
+the flags which indicate if the tuning starts and completes, respectively.
+</li>
+</ol>
+<p>
+For more details, please refer to:
+</p>
+<ul>
+<li>
+<a href=\"modelica://Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.BaseClasses.HalfPeriodRatio\">
+Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.BaseClasses.HalfPeriodRatio</a>,
+</li>
+<li>
+<a href=\"modelica://Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.BaseClasses.NormalizedTimeDelay\">
+Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.BaseClasses.NormalizedTimeDelay</a>,
+</li>
+<li>
+<a href=\"modelica://Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.BaseClasses.OnOffPeriod\">
+Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.BaseClasses.OnOffPeriod</a>.
+</li>
+<li>
+<a href=\"modelica://Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.BaseClasses.TuningMonitor\">
+Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.BaseClasses.TuningMonitor</a>.
+</li>
+</ul>
+</html>"));
+end ResponseProcess;
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Relay/Validation/Controller.mo b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Relay/Validation/Controller.mo
new file mode 100644
index 00000000000..ce128ace019
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Relay/Validation/Controller.mo
@@ -0,0 +1,71 @@
+within Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.Validation;
+model Controller "Test model for a relay controller"
+  Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.Controller relCon(
+    yHig=1,
+    yLow=0.5,
+    deaBan=0.4)
+    "A relay controller"
+    annotation (Placement(transformation(extent={{-10,-10},{10,10}})));
+  Buildings.Controls.OBC.CDL.Reals.Sources.Sin sin(freqHz=2)
+    "Measured value"
+    annotation (Placement(transformation(extent={{-60,-90},{-40,-70}})));
+  Buildings.Controls.OBC.CDL.Reals.Sources.Constant con(k=0)
+    "Setpoint"
+    annotation (Placement(transformation(extent={{-60,-10},{-40,10}})));
+  Buildings.Controls.OBC.CDL.Logical.Sources.Pulse enaSig(
+    width=0.5,
+    period=1,
+    shift=-0.5)
+    "Enable signal"
+    annotation (Placement(transformation(extent={{-60,-50},{-40,-30}})));
+
+equation
+  connect(con.y, relCon.u_s)
+    annotation (Line(points={{-38,0},{-12,0}}, color={0,0,127}));
+  connect(sin.y, relCon.u_m)
+    annotation (Line(points={{-38,-80},{0,-80},{0,-12}}, color={0,0,127}));
+  connect(enaSig.y, relCon.trigger)
+    annotation (Line(points={{-38,-40},{-6,-40},{-6,-12}}, color={255,0,255}));
+  annotation (
+      experiment(
+      StopTime=1.0,
+      Tolerance=1e-06),
+    __Dymola_Commands(
+      file="modelica://Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/Relay/Validation/Controller.mos" "Simulate and plot"),
+    Icon( coordinateSystem(
+        preserveAspectRatio=false,
+        extent={{-100,-100},{100,100}}),
+      graphics={
+        Ellipse(
+          lineColor={75,138,73},
+          fillColor={255,255,255},
+          fillPattern=FillPattern.Solid,
+          extent={{-100,-100},{100,100}}),
+        Polygon(
+          lineColor={0,0,255},
+          fillColor={75,138,73},
+          pattern=LinePattern.None,
+          fillPattern=FillPattern.Solid,
+          points={{-36,60},{64,0},{-36,-60},{-36,60}})}), Diagram(
+        coordinateSystem(preserveAspectRatio=false)),
+    Documentation(revisions="<html>
+<ul>
+<li>
+June 1, 2022, by Sen Huang:<br/>
+First implementation<br/>
+</li>
+</ul>
+</html>", info="<html>
+<p>
+Validation test for the block
+<a href=\"modelica://Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.Controller\">
+Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.Controller</a>.
+</p>
+<p>
+The input signal, <code>sin</code>, mimics the response of a control process.
+In the first half of the test period, the relay controller is disabled, its output remains unchanged
+from the initial values.
+In the rest time, the relay controller is enabled and its output changes based on <code>sin</code>.  
+</p>
+</html>"));
+end Controller;
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Relay/Validation/ResponseProcess.mo b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Relay/Validation/ResponseProcess.mo
new file mode 100644
index 00000000000..5e809e4c198
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Relay/Validation/ResponseProcess.mo
@@ -0,0 +1,89 @@
+within Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.Validation;
+model ResponseProcess "Test model for processing the response of a relay controller"
+  Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.ResponseProcess resPro(
+    final yHig=1,
+    final yLow=0.2)
+    "Calculate the length of the on period and the off period"
+    annotation (Placement(transformation(extent={{-10,-10},{10,10}})));
+  Buildings.Controls.OBC.CDL.Reals.Sources.CivilTime modTim
+    "Simulation time"
+    annotation (Placement(transformation(extent={{-60,10},{-40,30}})));
+  Buildings.Controls.OBC.CDL.Logical.Sources.Pulse relSwi(
+    width=0.2,
+    period=0.8,
+    shift=-0.1)
+    "Control switch output"
+    annotation (Placement(transformation(extent={{-60,-30},{-40,-10}})));
+  Buildings.Controls.OBC.CDL.Logical.Sources.Pulse resSig(
+    width=0.1,
+    period=1,
+    shift=-0.1)
+    "Reset signal"
+    annotation (Placement(transformation(extent={{-60,-70},{-40,-50}})));
+  Buildings.Controls.OBC.CDL.Logical.Latch tunSta
+    "Display when tuning process starts"
+    annotation (Placement(transformation(extent={{60,-2},{80,18}})));
+  Buildings.Controls.OBC.CDL.Logical.Latch tunEnd
+    "Display when tuning process ends"
+    annotation (Placement(transformation(extent={{60,-40},{80,-20}})));
+  Buildings.Controls.OBC.CDL.Logical.Sources.Constant con(final k=false)
+    "False signal"
+    annotation (Placement(transformation(extent={{0,-80},{20,-60}})));
+equation
+  connect(modTim.y, resPro.tim) annotation (Line(points={{-38,20},{-20,20},{-20,
+          6},{-12,6}}, color={0,0,127}));
+  connect(relSwi.y,resPro.on)  annotation (Line(points={{-38,-20},{-20,-20},{
+          -20,0},{-12,0}},
+                         color={255,0,255}));
+  connect(resSig.y, resPro.trigger) annotation (Line(points={{-38,-60},{-16,-60},
+          {-16,-6},{-12,-6}}, color={255,0,255}));
+  connect(resPro.triSta, tunSta.u) annotation (Line(points={{12,-4},{40,-4},{40,
+          8},{58,8}}, color={255,0,255}));
+  connect(tunEnd.u, resPro.triEnd) annotation (Line(points={{58,-30},{38,-30},{38,
+          -8},{12,-8}}, color={255,0,255}));
+  connect(tunSta.clr, con.y) annotation (Line(points={{58,2},{48,2},{48,-70},{22,
+          -70}}, color={255,0,255}));
+  connect(tunEnd.clr, con.y) annotation (Line(points={{58,-36},{54,-36},{54,-70},
+          {22,-70}}, color={255,0,255}));
+  annotation (
+      experiment(
+      StopTime=1.0,
+      Tolerance=1e-06),
+    __Dymola_Commands(
+      file="modelica://Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/Relay/Validation/ResponseProcess.mos" "Simulate and plot"),
+      Icon(
+      coordinateSystem(
+        preserveAspectRatio=false,
+        extent={{-100,-100},{100,100}}),
+      graphics={
+        Ellipse(
+          lineColor={75,138,73},
+          fillColor={255,255,255},
+          fillPattern=FillPattern.Solid,
+          extent={{-100,-100},{100,100}}),
+        Polygon(
+          lineColor={0,0,255},
+          fillColor={75,138,73},
+          pattern=LinePattern.None,
+          fillPattern=FillPattern.Solid,
+          points={{-36,60},{64,0},{-36,-60},{-36,60}})}), Diagram(
+        coordinateSystem(preserveAspectRatio=false)),
+    Documentation(revisions="<html>
+<ul>
+<li>
+June 1, 2022, by Sen Huang:<br/>
+First implementation<br/>
+</li>
+</ul>
+</html>", info="<html>
+<p>
+Validation test for the block
+<a href=\"modelica://Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.ResponseProcess\">
+Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.ResponseProcess</a>.
+</p>
+<p>
+This testing scenario in this example is the same as that in <a href=\"modelica://Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.BaseClasses.Validation.TuningMonitor\">
+Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.BaseClasses.Validation.TunMonitor</a>.
+</p>
+</html>"));
+end ResponseProcess;
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Relay/Validation/package.mo b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Relay/Validation/package.mo
new file mode 100644
index 00000000000..7555afb1f88
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Relay/Validation/package.mo
@@ -0,0 +1,32 @@
+within Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay;
+package Validation "Collection of models that validate the blocks of a relay controller"
+  annotation (
+    preferredView="info",
+    Documentation(
+      info="<html>
+<p>
+This package contains models that validate the blocks in
+<a href=\"modelica://Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay\">
+Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay</a>.
+</p>
+</html>"),
+    Icon(
+      graphics={
+        Rectangle(
+          lineColor={200,200,200},
+          fillColor={248,248,248},
+          fillPattern=FillPattern.HorizontalCylinder,
+          extent={{-100.0,-100.0},{100.0,100.0}},
+          radius=25.0),
+        Rectangle(
+          lineColor={128,128,128},
+          extent={{-100.0,-100.0},{100.0,100.0}},
+          radius=25.0),
+        Polygon(
+          origin={8.0,14.0},
+          lineColor={78,138,73},
+          fillColor={78,138,73},
+          pattern=LinePattern.None,
+          fillPattern=FillPattern.Solid,
+          points={{-58.0,46.0},{42.0,-14.0},{-58.0,-74.0},{-58.0,46.0}})}));
+end Validation;
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Relay/Validation/package.order b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Relay/Validation/package.order
new file mode 100644
index 00000000000..74d73a22bb1
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Relay/Validation/package.order
@@ -0,0 +1,2 @@
+Controller
+ResponseProcess
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Relay/package.mo b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Relay/package.mo
new file mode 100644
index 00000000000..5909e527237
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Relay/package.mo
@@ -0,0 +1,43 @@
+within Buildings.Controls.OBC.Utilities.PIDWithAutotuning;
+package Relay "Package with blocks for a relay controller"
+annotation (Documentation(info="<html>
+<p>
+This package contains blocks related to a relay controller.
+</p>
+</html>"),
+    Icon(
+      graphics={
+        Rectangle(
+          lineColor={200,200,200},
+          fillColor={248,248,248},
+          fillPattern=FillPattern.HorizontalCylinder,
+          extent={{-100.0,-100.0},{100.0,100.0}},
+          radius=25.0),
+        Rectangle(
+          lineColor={128,128,128},
+          extent={{-100.0,-100.0},{100.0,100.0}},
+          radius=25.0),
+        Ellipse(
+          origin={10.0,10.0},
+          fillColor={76,76,76},
+          pattern=LinePattern.None,
+          fillPattern=FillPattern.Solid,
+          extent={{-80.0,-80.0},{-20.0,-20.0}}),
+        Ellipse(
+          origin={10.0,10.0},
+          pattern=LinePattern.None,
+          fillPattern=FillPattern.Solid,
+          extent={{0.0,-80.0},{60.0,-20.0}}),
+        Ellipse(
+          origin={10.0,10.0},
+          fillColor={128,128,128},
+          pattern=LinePattern.None,
+          fillPattern=FillPattern.Solid,
+          extent={{0.0,0.0},{60.0,60.0}}),
+        Ellipse(
+          origin={10.0,10.0},
+          lineColor={128,128,128},
+          fillColor={255,255,255},
+          fillPattern=FillPattern.Solid,
+          extent={{-80.0,0.0},{-20.0,60.0}})}));
+end Relay;
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Relay/package.order b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Relay/package.order
new file mode 100644
index 00000000000..432d970ed3e
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Relay/package.order
@@ -0,0 +1,4 @@
+Controller
+ResponseProcess
+Validation
+BaseClasses
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/SystemIdentification/FirstOrderTimedelayed/BaseClasses/Gain.mo b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/SystemIdentification/FirstOrderTimedelayed/BaseClasses/Gain.mo
new file mode 100644
index 00000000000..e0b9c874adb
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/SystemIdentification/FirstOrderTimedelayed/BaseClasses/Gain.mo
@@ -0,0 +1,126 @@
+within Buildings.Controls.OBC.Utilities.PIDWithAutotuning.SystemIdentification.FirstOrderTimedelayed.BaseClasses;
+block Gain "Identify the gain of a first order time delayed model"
+  parameter Real yHig(min=1E-6)
+    "Higher value for the output (assuming the reference output is 0)";
+  parameter Real yLow(min=1E-6)
+    "Lower value for the output (assuming the reference output is 0)";
+  Buildings.Controls.OBC.CDL.Interfaces.RealInput u
+    "Relay controller output, (measurement - setpoint)"
+    annotation (Placement(transformation(extent={{-140,50},{-100,90}}),
+        iconTransformation(extent={{-140,60},{-100,100}})));
+  Buildings.Controls.OBC.CDL.Interfaces.RealInput tOn(
+    final quantity="Time",
+    final unit="s",
+    min=100*Buildings.Controls.OBC.CDL.Constants.eps)
+    "Length for the on period"
+    annotation (Placement(transformation(extent={{-140,-30},{-100,10}}),
+    iconTransformation(extent={{-140,-20},{-100,20}})));
+  Buildings.Controls.OBC.CDL.Interfaces.RealInput tOff(
+    final quantity="Time",
+    final unit="s",
+    min=100*Buildings.Controls.OBC.CDL.Constants.eps)
+    "Length for the off period"
+    annotation (Placement(transformation(extent={{-140,-100},{-100,-60}}),
+    iconTransformation(extent={{-140,-100},{-100,-60}})));
+  Buildings.Controls.OBC.CDL.Interfaces.BooleanInput triSta
+    "Relay tuning status, true if the tuning starts"
+    annotation (Placement(transformation(extent={{-20,-20},{20,20}},
+        rotation=90, origin={0,-120})));
+  Buildings.Controls.OBC.CDL.Interfaces.RealOutput k
+    "Gain"
+    annotation (Placement(transformation(extent={{100,-20},{140,20}})));
+protected
+  Buildings.Controls.OBC.CDL.Reals.Add Iu
+    "Integral of the relay output"
+    annotation (Placement(transformation(extent={{-40,-50},{-20,-30}})));
+  Buildings.Controls.OBC.CDL.Reals.IntegratorWithReset Iy(
+    final k=1, final y_start=1E-3)
+    "Integral of the process output"
+    annotation (Placement(transformation(extent={{-10,60},{10,80}})));
+  Buildings.Controls.OBC.CDL.Reals.Sources.Constant refRelOut(
+    final k=0) "Reference value of the relay control output"
+    annotation (Placement(transformation(extent={{-60,30},{-40,50}})));
+  Buildings.Controls.OBC.CDL.Reals.Divide divIyIu "Calculate the gain"
+    annotation (Placement(transformation(extent={{60,-10},{80,10}})));
+  Buildings.Controls.OBC.CDL.Reals.AddParameter addPar(final p=1E-3)
+    "Block that avoids a divide-by-zero error"
+    annotation (Placement(transformation(extent={{20,-50},{40,-30}})));
+  Buildings.Controls.OBC.CDL.Reals.MultiplyByParameter gaiOnyHig(
+    final k=yHig)
+    "Product of tOn and yHig"
+    annotation (Placement(transformation(extent={{-80,-20},{-60,0}})));
+  Buildings.Controls.OBC.CDL.Reals.MultiplyByParameter gaiOffyLow(
+    final k=-yLow)
+    "Product of tOff and yLow"
+    annotation (Placement(transformation(extent={{-80,-90},{-60,-70}})));
+equation
+  connect(refRelOut.y, Iy.y_reset_in) annotation (Line(points={{-38,40},{-20,40},
+          {-20,62},{-12,62}}, color={0,0,127}));
+  connect(Iy.trigger, triSta) annotation (Line(points={{0,58},{0,-120}},
+          color={255,0,255}));
+  connect(divIyIu.u1, Iy.y) annotation (Line(points={{58,6},{20,6},{20,70},{12,
+          70}}, color={0,0,127}));
+  connect(Iu.y, addPar.u) annotation (Line(points={{-18,-40},{18,-40}},color={0,0,127}));
+  connect(addPar.y, divIyIu.u2) annotation (Line(points={{42,-40},{50,-40},{50,
+          -6},{58,-6}}, color={0,0,127}));
+  connect(gaiOnyHig.u, tOn) annotation (Line(points={{-82,-10},{-120,-10}},
+          color={0,0,127}));
+  connect(gaiOnyHig.y, Iu.u1) annotation (Line(points={{-58,-10},{-50,-10},{-50,
+          -34},{-42,-34}}, color={0,0,127}));
+  connect(gaiOffyLow.u, tOff)
+    annotation (Line(points={{-82,-80},{-120,-80}}, color={0,0,127}));
+  connect(gaiOffyLow.y, Iu.u2) annotation (Line(points={{-58,-80},{-50,-80},{-50,
+          -46},{-42,-46}}, color={0,0,127}));
+  connect(divIyIu.y, k)
+    annotation (Line(points={{82,0},{120,0}}, color={0,0,127}));
+  connect(u, Iy.u)
+    annotation (Line(points={{-120,70},{-12,70}}, color={0,0,127}));
+  annotation (
+        defaultComponentName = "gai",
+        Icon(coordinateSystem(preserveAspectRatio=false), graphics={
+        Rectangle(
+          extent={{-100,-100},{100,100}},
+          lineColor={0,0,127},
+          fillColor={255,255,255},
+          fillPattern=FillPattern.Solid),
+        Text(
+          extent={{-100,140},{100,100}},
+          textString="%name",
+          textColor={0,0,255})}), Diagram(coordinateSystem(preserveAspectRatio=false)),
+    Documentation(revisions="<html>
+<ul>
+<li>
+June 1, 2022, by Sen Huang:<br/>
+First implementation<br/>
+</li>
+</ul>
+</html>", info="<html>
+<p>This block calculates the gain of a first-order time delayed model.</p>
+<h4>Main equations</h4>
+<p align=\"center\" style=\"font-style:italic;\">
+k = I<sub>y</sub>/I<sub>u</sub>,
+</p>
+
+<p><i>I<sub>y</sub></i> is calculated by </p>
+<p align=\"center\" style=\"font-style:italic;\">
+I<sub>y</sub> = &int; u(t) dt;</p>
+<p>
+where <i>u(t)</i> is the relay output at <i>t</i> (see details in <a href=\"modelica://Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.Controller\">
+Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.Controller</a>).
+</p>
+<p><i>I<sub>u</sub></i> is calculated by </p>
+<p align=\"center\" style=\"font-style:italic;\">
+I<sub>u</sub> = t<sub>on</sub> y<sub>hig</sub> - t<sub>off</sub>y<sub>low</sub>,
+</p>
+<p>
+where <i>y<sub>hig</sub></i> and <i>y<sub>low</sub></i> are constants related to
+an asymmetric relay output.
+<i>t<sub>on</sub></i> and <i>t<sub>off</sub></i> are the length of the on
+period and the off period of the same asymmetric relay output, respectively.
+</p>
+<h4>References</h4>
+<p>Josefin Berner (2017).
+\"Automatic Controller Tuning using Relay-based Model Identification\".
+Department of Automatic Control, Lund Institute of Technology, Lund University. </p>
+</html>"));
+end Gain;
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/SystemIdentification/FirstOrderTimedelayed/BaseClasses/TimeConstantDelay.mo b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/SystemIdentification/FirstOrderTimedelayed/BaseClasses/TimeConstantDelay.mo
new file mode 100644
index 00000000000..fcea9db9c0e
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/SystemIdentification/FirstOrderTimedelayed/BaseClasses/TimeConstantDelay.mo
@@ -0,0 +1,227 @@
+within Buildings.Controls.OBC.Utilities.PIDWithAutotuning.SystemIdentification.FirstOrderTimedelayed.BaseClasses;
+block TimeConstantDelay
+  "Calculate the time constant and the time delay of a first order time delayed model"
+  parameter Real yHig(min=1E-6)
+    "Higher value for the output (assuming the reference output is 0)";
+  parameter Real yLow(min=1E-6)
+    "Lower value for the output (assuming the reference output is 0)";
+  parameter Real deaBan(min=1E-6)
+    "Deadband for holding the output value";
+  Buildings.Controls.OBC.CDL.Interfaces.RealInput tOn(
+    final quantity="Time",
+    final unit="s",
+    min=100*Buildings.Controls.OBC.CDL.Constants.eps)
+    "Length for the on period"
+    annotation (Placement(transformation(extent={{-220,100},{-180,140}}),
+        iconTransformation(extent={{-140,40},{-100,80}})));
+  Buildings.Controls.OBC.CDL.Interfaces.RealInput k
+    "Gain"
+    annotation (Placement(transformation(extent={{-220,-10},{-180,30}}),
+        iconTransformation(extent={{-140,-20},{-100,20}})));
+  Buildings.Controls.OBC.CDL.Interfaces.RealInput rat
+    "Ratio between the time constant and the time delay"
+    annotation (Placement(transformation(extent={{-220,-80},{-180,-40}}),
+        iconTransformation(extent={{-140,-80},{-100,-40}})));
+  Buildings.Controls.OBC.CDL.Interfaces.RealOutput T(
+    final quantity="Time",
+    final unit="s",
+    min=100*Buildings.Controls.OBC.CDL.Constants.eps)
+    "Time constant"
+    annotation (Placement(transformation(extent={{180,90},{220,130}}),
+        iconTransformation(extent={{100,60},{140,100}})));
+  Buildings.Controls.OBC.CDL.Interfaces.RealOutput L(
+    final quantity="Time",
+    final unit="s",
+    min=100*Buildings.Controls.OBC.CDL.Constants.eps)
+    "Time delay"
+    annotation (Placement(transformation(extent={{180,-10},{220,30}}),
+        iconTransformation(extent={{100,-20},{140,20}})));
+  Buildings.Controls.OBC.CDL.Interfaces.BooleanOutput triFai
+    "True when an error occurs in the autotuning process"
+    annotation (Placement(transformation(extent={{180,-150},{220,-110}}),
+    iconTransformation(extent={{100,-100},{140,-60}})));
+protected
+  Buildings.Controls.OBC.CDL.Reals.Abs absk
+    "Absoulte value of the gain"
+    annotation (Placement(transformation(extent={{-160,0},{-140,20}})));
+  Buildings.Controls.OBC.CDL.Reals.Exp exp
+    "Exponential value of the ratio between time constant and the time delay"
+    annotation (Placement(transformation(extent={{-160,-70},{-140,-50}})));
+  Buildings.Controls.OBC.CDL.Reals.Sources.Constant yHigSig(
+    final k=yHig)
+    "Higher value for the output"
+    annotation (Placement(transformation(extent={{-160,60},{-140,80}})));
+  Buildings.Controls.OBC.CDL.Reals.Sources.Constant yLowSig(
+    final k=yLow)
+    "Lower value for the output"
+    annotation (Placement(transformation(extent={{-100,60},{-80,80}})));
+  Buildings.Controls.OBC.CDL.Reals.Sources.Constant relDeaBan(
+    final k=deaBan)
+    "Dead band of the relay controller"
+    annotation (Placement(transformation(extent={{-100,0},{-80,20}})));
+  Buildings.Controls.OBC.CDL.Reals.Add add1
+    "Sum of the inputs"
+    annotation (Placement(transformation(extent={{80,-20},{100,0}})));
+  Buildings.Controls.OBC.CDL.Reals.Add add2
+    "Sum of the higher value for the output and the lower value for the output"
+    annotation (Placement(transformation(extent={{-60,30},{-40,50}})));
+  Buildings.Controls.OBC.CDL.Reals.Divide div1
+    "Quotient of deadband divided by the absolute value of the gain"
+    annotation (Placement(transformation(extent={{-20,-20},{0,0}})));
+  Buildings.Controls.OBC.CDL.Reals.Divide div2
+    "Blocks that calculates input 1 by input 2"
+    annotation (Placement(transformation(extent={{120,-80},{140,-60}})));
+  Buildings.Controls.OBC.CDL.Reals.Divide div3
+    "Blocks that calculates the time constant"
+    annotation (Placement(transformation(extent={{40,100},{60,120}})));
+  Buildings.Controls.OBC.CDL.Reals.Multiply mul1 "Product of the two inputs"
+    annotation (Placement(transformation(extent={{40,50},{60,70}})));
+  Buildings.Controls.OBC.CDL.Reals.Multiply mul2
+    "Blocks that calculates time delay"
+    annotation (Placement(transformation(extent={{100,120},{120,140}})));
+  Buildings.Controls.OBC.CDL.Reals.Subtract sub1
+    "Blocks that calculates the difference of the two inputs"
+    annotation (Placement(transformation(extent={{40,-90},{60,-70}})));
+  Buildings.Controls.OBC.CDL.Reals.Subtract sub2
+    "Blocks that calculates the difference of the two inputs"
+    annotation (Placement(transformation(extent={{40,-40},{60,-20}})));
+  Buildings.Controls.OBC.CDL.Reals.Log log
+    "Natural logarithm of the input"
+    annotation (Placement(transformation(extent={{-40,-100},{-20,-80}})));
+  Buildings.Controls.OBC.CDL.Reals.Greater gre1(final h=1e-6)
+    "Check if the input is less than 0"
+    annotation (Placement(transformation(extent={{40,-140},{60,-120}})));
+  Buildings.Controls.OBC.CDL.Reals.Max max1
+    "Avoid a negative input for the log function"
+    annotation (Placement(transformation(extent={{-82,-100},{-62,-80}})));
+
+  Buildings.Controls.OBC.CDL.Logical.Edge edg
+    "True when an negative input is given for the log function"
+    annotation (Placement(transformation(extent={{102,-140},{122,-120}})));
+  Buildings.Controls.OBC.CDL.Reals.Sources.Constant con(final k=1e-6)
+    "Constant"
+    annotation (Placement(transformation(extent={{-160,-120},{-140,-100}})));
+  Buildings.Controls.OBC.CDL.Reals.MultiplyByParameter gai(k=-1)
+    "Opposite of the input"
+    annotation (Placement(transformation(extent={{-20,-130},{0,-110}})));
+equation
+  connect(absk.u, k)
+    annotation (Line(points={{-162,10},{-200,10}},
+                                                color={0,0,127}));
+  connect(rat, exp.u)
+    annotation (Line(points={{-200,-60},{-162,-60}},color={0,0,127}));
+  connect(relDeaBan.y, div1.u1) annotation (Line(points={{-78,10},{-40,10},{-40,
+          -4},{-22,-4}},
+                      color={0,0,127}));
+  connect(sub2.u1, div1.y) annotation (Line(points={{38,-24},{10,-24},{10,-10},{
+          2,-10}},  color={0,0,127}));
+  connect(sub2.u2, yLowSig.y) annotation (Line(points={{38,-36},{-70,-36},{-70,70},
+          {-78,70}}, color={0,0,127}));
+  connect(yHigSig.y, add2.u1) annotation (Line(points={{-138,70},{-130,70},{-130,
+          46},{-62,46}}, color={0,0,127}));
+  connect(add2.u2, yLowSig.y) annotation (Line(points={{-62,34},{-70,34},{-70,70},
+          {-78,70}},color={0,0,127}));
+  connect(add2.y, mul1.u2) annotation (Line(points={{-38,40},{0,40},{0,54},{38,54}},
+          color={0,0,127}));
+  connect(exp.y, mul1.u1) annotation (Line(points={{-138,-60},{-30,-60},{-30,66},
+          {38,66}}, color={0,0,127}));
+  connect(sub2.y, add1.u2) annotation (Line(points={{62,-30},{70,-30},{70,-16},{
+          78,-16}}, color={0,0,127}));
+  connect(add1.u1, mul1.y) annotation (Line(points={{78,-4},{70,-4},{70,60},{62,
+          60}}, color={0,0,127}));
+  connect(sub1.y, div2.u2) annotation (Line(points={{62,-80},{80,-80},{80,-76},{
+          118,-76}}, color={0,0,127}));
+  connect(div2.u1, add1.y) annotation (Line(points={{118,-64},{110,-64},{110,-10},
+          {102,-10}}, color={0,0,127}));
+  connect(tOn, div3.u1) annotation (Line(points={{-200,120},{-140,120},{-140,116},
+          {38,116}}, color={0,0,127}));
+  connect(div3.y, T) annotation (Line(points={{62,110},{200,110}},
+        color={0,0,127}));
+  connect(mul2.u2, T) annotation (Line(points={{98,124},{80,124},{80,110},{200,110}},
+          color={0,0,127}));
+  connect(mul2.u1, exp.u) annotation (Line(points={{98,136},{-170,136},{-170,-60},
+          {-162,-60}}, color={0,0,127}));
+  connect(mul2.y, L) annotation (Line(points={{122,130},{130,130},{130,10},{200,
+          10}},  color={0,0,127}));
+  connect(sub1.u2, div1.y) annotation (Line(points={{38,-86},{10,-86},{10,-10},{
+          2,-10}}, color={0,0,127}));
+  connect(absk.y, div1.u2) annotation (Line(points={{-138,10},{-110,10},{-110,-16},
+          {-22,-16}},color={0,0,127}));
+  connect(yHigSig.y, sub1.u1) annotation (Line(points={{-138,70},{-130,70},{-130,
+          -74},{38,-74}}, color={0,0,127}));
+  connect(log.y, div3.u2) annotation (Line(points={{-18,-90},{20,-90},{20,104},{
+          38,104}}, color={0,0,127}));
+  connect(div2.y, max1.u1) annotation (Line(points={{142,-70},{150,-70},{150,-50},
+          {-90,-50},{-90,-84},{-84,-84}},      color={0,0,127}));
+  connect(log.u, max1.y)
+    annotation (Line(points={{-42,-90},{-60,-90}},   color={0,0,127}));
+  connect(gre1.u2, div2.y) annotation (Line(points={{38,-138},{-90,-138},{-90,-50},
+          {150,-50},{150,-70},{142,-70}},      color={0,0,127}));
+  connect(con.y, max1.u2) annotation (Line(points={{-138,-110},{-120,-110},{-120,
+          -96},{-84,-96}},   color={0,0,127}));
+  connect(gre1.y, edg.u)
+    annotation (Line(points={{62,-130},{100,-130}}, color={255,0,255}));
+  connect(edg.y, triFai)
+    annotation (Line(points={{124,-130},{200,-130}}, color={255,0,255}));
+  connect(gre1.u1, gai.y) annotation (Line(points={{38,-130},{20,-130},{20,-120},
+          {2,-120}},    color={0,0,127}));
+  connect(gai.u, con.y) annotation (Line(points={{-22,-120},{-120,-120},{-120,-110},
+          {-138,-110}}, color={0,0,127}));
+  annotation (
+        defaultComponentName = "timConDel",
+        Icon(coordinateSystem(preserveAspectRatio=false, extent={{-100,-100},{100,100}}),
+        graphics={
+        Rectangle(
+          extent={{-100,-100},{100,100}},
+          lineColor={0,0,127},
+          fillColor={255,255,255},
+          fillPattern=FillPattern.Solid),
+        Text(
+          extent={{-100,140},{100,100}},
+          textString="%name",
+          textColor={0,0,255})}), Diagram(coordinateSystem(preserveAspectRatio=false, extent={{-180,
+            -160},{180,160}})),
+    Documentation(revisions="<html>
+<ul>
+<li>
+March 8, 2024, by Michael Wetter:<br/>
+Changed deadband to be consistent within the package.
+</li>
+<li>
+June 1, 2022, by Sen Huang:<br/>
+First implementation<br/>
+</li>
+</ul>
+</html>", info="<html>
+<p>
+This block calculates the time constant and the time delay of a first-order time delayed model.
+</p>
+<h4>Main equations</h4>
+<p>
+The time constant, <code>T</code>, is calculated by
+</p>
+<p align=\"center\" style=\"font-style:italic;\">
+T = t<sub>on</sub>/(ln((&delta;/|k|-y<sub>hig</sub>+exp(&tau;/(1 - &tau;))(y<sub>hig</sub> + y<sub>low</sub>))/(y<sub>hig</sub>-&delta;/|k|))),
+</p>
+<p>
+where <i>y<sub>hig</sub></i> and <i>y<sub>low</sub></i> are constants related to
+an asymmetric relay output.
+<code>t<sub>on</sub></code> is the length of the on period of the same asymmetric relay output.
+<code>&delta;</code> is the dead band of the same asymmetric relay output.
+<code>k</code> is the gain of the first-order time delayed model.
+<code>&tau;</code> is the normalized time delay.
+</p>
+<p>
+The time delay, <code>L</code>, is calculated by
+</p>
+<p align=\"center\" style=\"font-style:italic;\">
+L = T &tau;/(1 - &tau;),
+</p>
+<h4>References</h4>
+<p>
+Josefin Berner (2015).
+\"Automatic Tuning of PID Controllers based on Asymmetric Relay Feedback.\"
+Department of Automatic Control, Lund Institute of Technology, Lund University.
+</p>
+</html>"));
+end TimeConstantDelay;
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/SystemIdentification/FirstOrderTimedelayed/BaseClasses/Validation/Gain.mo b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/SystemIdentification/FirstOrderTimedelayed/BaseClasses/Validation/Gain.mo
new file mode 100644
index 00000000000..de7b4cb01d7
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/SystemIdentification/FirstOrderTimedelayed/BaseClasses/Validation/Gain.mo
@@ -0,0 +1,85 @@
+within Buildings.Controls.OBC.Utilities.PIDWithAutotuning.SystemIdentification.FirstOrderTimedelayed.BaseClasses.Validation;
+model Gain "Test model for identifying the gain of the control process"
+  Buildings.Controls.OBC.Utilities.PIDWithAutotuning.SystemIdentification.FirstOrderTimedelayed.BaseClasses.Gain
+    gai(
+    yHig=1, 
+    yLow=0.5)
+    "Block that calculates the gain of a first-order model"
+    annotation (Placement(transformation(extent={{-10,-10},{10,10}})));
+  Buildings.Controls.OBC.CDL.Reals.Sources.Pulse u(
+    amplitude=0.5,
+    width=0.125,
+    period=0.8,
+    offset=0.5)
+    "The response of a relay controller"
+    annotation (Placement(transformation(extent={{-60,30},{-40,50}})));
+  Buildings.Controls.OBC.CDL.Reals.Sources.Pulse tOn(
+    amplitude=-0.1,
+    width=0.1,
+    period=1,
+    offset=0.1)
+    "The length of the on period"
+    annotation (Placement(transformation(extent={{-60,-10},{-40,10}})));
+  Buildings.Controls.OBC.CDL.Reals.Sources.Pulse tOff(
+    amplitude=-0.7,
+    width=0.8,
+    period=1,
+    offset=0.7)
+    "The length of the off period"
+    annotation (Placement(transformation(extent={{-60,-50},{-40,-30}})));
+  Buildings.Controls.OBC.CDL.Logical.Sources.Pulse tunSta(
+    width=0.9,
+    period=1,
+    shift=-0.9)
+    "The signal for the tuning period starts"
+    annotation (Placement(transformation(extent={{-60,-90},{-40,-70}})));
+equation
+  connect(tunSta.y, gai.triSta)
+    annotation (Line(points={{-38,-80},{0,-80},{0,-12}}, color={255,0,255}));
+  connect(tOff.y, gai.tOff) annotation (Line(points={{-38,-40},{-20,-40},{-20,-8},
+          {-12,-8}}, color={0,0,127}));
+  connect(tOn.y, gai.tOn)
+    annotation (Line(points={{-38,0},{-12,0}}, color={0,0,127}));
+  connect(u.y, gai.u) annotation (Line(points={{-38,40},{-20,40},{-20,8},{-12,8}},
+        color={0,0,127}));
+  annotation (
+      experiment(
+      StopTime=1.0,
+      Tolerance=1e-06),
+    __Dymola_Commands(
+      file="modelica://Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/SystemIdentification/FirstOrderTimedelayed/BaseClasses/Validation/Gain.mos" "Simulate and plot"),
+    Icon( coordinateSystem(
+        preserveAspectRatio=false,
+        extent={{-100,-100},{100,100}}),
+      graphics={
+        Ellipse(
+          lineColor={75,138,73},
+          fillColor={255,255,255},
+          fillPattern=FillPattern.Solid,
+          extent={{-100,-100},{100,100}}),
+        Polygon(
+          lineColor={0,0,255},
+          fillColor={75,138,73},
+          pattern=LinePattern.None,
+          fillPattern=FillPattern.Solid,
+          points={{-36,60},{64,0},{-36,-60},{-36,60}})}),Diagram(
+        coordinateSystem(preserveAspectRatio=false)),
+    Documentation(revisions="<html>
+<ul>
+<li>
+June 1, 2022, by Sen Huang:<br/>
+First implementation<br/>
+</li>
+</ul>
+</html>", info="<html>
+<p>
+Validation test for the block
+<a href=\"modelica://Buildings.Controls.OBC.Utilities.PIDWithAutotuning.SystemIdentification.FirstOrderTimedelayed.BaseClasses.Gain\">
+Buildings.Controls.OBC.Utilities.PIDWithAutotuning.SystemIdentification.FirstOrderTimedelayed.BaseClasses.Gain</a>.
+</p>
+<p>
+This testing scenario in this example is the same to that in <a href=\"modelica://Buildings.Controls.OBC.Utilities.PIDWithAutotuning.SystemIdentification.FirstOrderTimedelayed.Validation.ControlProcessModel\">
+Buildings.Controls.OBC.Utilities.PIDWithAutotuning.SystemIdentification.FirstOrderTimedelayed.Validation.ControlProcessModel</a>.
+</p>
+</html>"));
+end Gain;
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/SystemIdentification/FirstOrderTimedelayed/BaseClasses/Validation/TimeConstantDelay.mo b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/SystemIdentification/FirstOrderTimedelayed/BaseClasses/Validation/TimeConstantDelay.mo
new file mode 100644
index 00000000000..7da11cf6fe7
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/SystemIdentification/FirstOrderTimedelayed/BaseClasses/Validation/TimeConstantDelay.mo
@@ -0,0 +1,76 @@
+within Buildings.Controls.OBC.Utilities.PIDWithAutotuning.SystemIdentification.FirstOrderTimedelayed.BaseClasses.Validation;
+model TimeConstantDelay "Test model for identifying the the time constant and the time delay of the control process"
+  Buildings.Controls.OBC.Utilities.PIDWithAutotuning.SystemIdentification.FirstOrderTimedelayed.BaseClasses.TimeConstantDelay
+    timConDel(
+      yHig=0.5,
+      yLow=0.1,
+      deaBan=0.4)
+    "Block that calculates the time constant and the time delay of a first-order model"
+    annotation (Placement(transformation(extent={{-10,-10},{10,10}})));
+  Buildings.Controls.OBC.CDL.Reals.Sources.Constant k(k=1)
+    "Gain"
+    annotation (Placement(transformation(extent={{-60,-10},{-40,10}})));
+  Buildings.Controls.OBC.CDL.Reals.Sources.Pulse tOn(
+    amplitude=-0.1,
+    width=0.1,
+    period=1,
+    offset=0.1)
+    "The length of the on period"
+    annotation (Placement(transformation(extent={{-60,30},{-40,50}})));
+  Buildings.Controls.OBC.CDL.Reals.Sources.Pulse ratioLT(
+    amplitude=-0.1,
+    width=0.4,
+    period=0.8,
+    offset=0.4)
+    "Ratio between the time constant and the time delay"
+    annotation (Placement(transformation(extent={{-60,-50},{-40,-30}})));
+
+equation
+  connect(tOn.y, timConDel.tOn) annotation (Line(points={{-38,40},{-20,40},{-20,
+          6},{-12,6}}, color={0,0,127}));
+  connect(k.y, timConDel.k)
+    annotation (Line(points={{-38,0},{-12,0}}, color={0,0,127}));
+  connect(ratioLT.y, timConDel.rat) annotation (Line(points={{-38,-40},{-20,-40},
+          {-20,-6},{-12,-6}}, color={0,0,127}));
+  annotation (
+      experiment(
+      StopTime=1.0,
+      Tolerance=1e-06),
+    __Dymola_Commands(
+      file="modelica://Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/SystemIdentification/FirstOrderTimedelayed/BaseClasses/Validation/TimeConstantDelay.mos" "Simulate and plot"),
+    Icon( coordinateSystem(
+        preserveAspectRatio=false,
+        extent={{-100,-100},{100,100}}),
+      graphics={
+        Ellipse(
+          lineColor={75,138,73},
+          fillColor={255,255,255},
+          fillPattern=FillPattern.Solid,
+          extent={{-100,-100},{100,100}}),
+        Polygon(
+          lineColor={0,0,255},
+          fillColor={75,138,73},
+          pattern=LinePattern.None,
+          fillPattern=FillPattern.Solid,
+          points={{-36,60},{64,0},{-36,-60},{-36,60}})}),Diagram(
+        coordinateSystem(preserveAspectRatio=false)),
+    Documentation(revisions="<html>
+<ul>
+<li>
+June 1, 2022, by Sen Huang:<br/>
+First implementation<br/>
+</li>
+</ul>
+</html>", info="<html>
+<p>
+Validation test for the block
+<a href=\"modelica://Buildings.Controls.OBC.Utilities.PIDWithAutotuning.SystemIdentification.FirstOrderTimedelayed.BaseClasses.TimeConstantDelay\">
+Buildings.Controls.OBC.Utilities.PIDWithAutotuning.SystemIdentification.FirstOrderTimedelayed.BaseClasses.TimeConstantDelay</a>.
+</p>
+<p>
+The input <code>tOn</code> changes from <i>0</i> to <i>0.1</i> at <i>0.1</i>s,
+input <code>k</code> is constant,
+input <code>ratioLT</code> changes twice, from <i>0.3</i> to <i>0.4</i> at <i>0.32</i>s and from <i>0.4</i> to <i>0.3</i> at <i>0.8</i>s.
+</p>
+</html>"));
+end TimeConstantDelay;
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/SystemIdentification/FirstOrderTimedelayed/BaseClasses/Validation/package.mo b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/SystemIdentification/FirstOrderTimedelayed/BaseClasses/Validation/package.mo
new file mode 100644
index 00000000000..870cea81b27
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/SystemIdentification/FirstOrderTimedelayed/BaseClasses/Validation/package.mo
@@ -0,0 +1,32 @@
+within Buildings.Controls.OBC.Utilities.PIDWithAutotuning.SystemIdentification.FirstOrderTimedelayed.BaseClasses;
+package Validation "Collection of validation models"
+  annotation (
+    preferredView="info",
+    Documentation(
+      info="<html>
+<p>
+This package contains models that validate the blocks in
+<a href=\"modelica://Buildings.Controls.OBC.Utilities.PIDWithAutotuning.SystemIdentification.FirstOrderTimedelayed.BaseClasses\">
+Buildings.Controls.OBC.Utilities.PIDWithAutotuning.SystemIdentification.FirstOrderTimedelayed.BaseClasses</a>.
+</p>
+</html>"),
+    Icon(
+      graphics={
+        Rectangle(
+          lineColor={200,200,200},
+          fillColor={248,248,248},
+          fillPattern=FillPattern.HorizontalCylinder,
+          extent={{-100.0,-100.0},{100.0,100.0}},
+          radius=25.0),
+        Rectangle(
+          lineColor={128,128,128},
+          extent={{-100.0,-100.0},{100.0,100.0}},
+          radius=25.0),
+        Polygon(
+          origin={8.0,14.0},
+          lineColor={78,138,73},
+          fillColor={78,138,73},
+          pattern=LinePattern.None,
+          fillPattern=FillPattern.Solid,
+          points={{-58.0,46.0},{42.0,-14.0},{-58.0,-74.0},{-58.0,46.0}})}));
+end Validation;
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/SystemIdentification/FirstOrderTimedelayed/BaseClasses/Validation/package.order b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/SystemIdentification/FirstOrderTimedelayed/BaseClasses/Validation/package.order
new file mode 100644
index 00000000000..5154064169d
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/SystemIdentification/FirstOrderTimedelayed/BaseClasses/Validation/package.order
@@ -0,0 +1,2 @@
+Gain
+TimeConstantDelay
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/SystemIdentification/FirstOrderTimedelayed/BaseClasses/package.mo b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/SystemIdentification/FirstOrderTimedelayed/BaseClasses/package.mo
new file mode 100644
index 00000000000..36d4b009013
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/SystemIdentification/FirstOrderTimedelayed/BaseClasses/package.mo
@@ -0,0 +1,21 @@
+within Buildings.Controls.OBC.Utilities.PIDWithAutotuning.SystemIdentification.FirstOrderTimedelayed;
+package BaseClasses "Package with base classes"
+    annotation (Icon(graphics={
+        Rectangle(
+          lineColor={200,200,200},
+          fillColor={248,248,248},
+          fillPattern=FillPattern.HorizontalCylinder,
+          extent={{-100,-100},{100,100}},
+          radius=25.0),
+        Ellipse(
+          extent={{-30,-32},{30,28}},
+          lineColor={128,128,128},
+          fillColor={255,255,255},
+          fillPattern=FillPattern.Solid)}), Documentation(info="<html>
+<p>
+This package contains base classes to construct blocks in
+<a href=\"modelica://Buildings.Controls.OBC.Utilities.PIDWithAutotuning.SystemIdentification.FirstOrderTimedelayed\">
+Buildings.Controls.OBC.Utilities.PIDWithAutotuning.SystemIdentification.FirstOrderTimedelayed</a>.
+</p>
+</html>"));
+end BaseClasses;
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/SystemIdentification/FirstOrderTimedelayed/BaseClasses/package.order b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/SystemIdentification/FirstOrderTimedelayed/BaseClasses/package.order
new file mode 100644
index 00000000000..0fb2c6ea90f
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/SystemIdentification/FirstOrderTimedelayed/BaseClasses/package.order
@@ -0,0 +1,3 @@
+Gain
+TimeConstantDelay
+Validation
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/SystemIdentification/FirstOrderTimedelayed/ControlProcessModel.mo b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/SystemIdentification/FirstOrderTimedelayed/ControlProcessModel.mo
new file mode 100644
index 00000000000..9e65a51b799
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/SystemIdentification/FirstOrderTimedelayed/ControlProcessModel.mo
@@ -0,0 +1,261 @@
+within Buildings.Controls.OBC.Utilities.PIDWithAutotuning.SystemIdentification.FirstOrderTimedelayed;
+block ControlProcessModel
+  "Identify the parameters of a first-order time delayed model for the control process"
+  parameter Real yHig(min=1E-6)
+    "Higher value for the output";
+  parameter Real yLow(min=1E-6)
+    "Lower value for the output";
+  parameter Real deaBan(min=1E-6)
+    "Deadband for holding the output value";
+  Buildings.Controls.OBC.CDL.Interfaces.RealInput tOn(
+    final quantity="Time",
+    final unit="s",
+    min=100*Buildings.Controls.OBC.CDL.Constants.eps)
+    "Length for the on period"
+    annotation (Placement(transformation(extent={{-200,20},{-160,60}}),
+    iconTransformation(extent={{-140,20},{-100,60}})));
+  Buildings.Controls.OBC.CDL.Interfaces.RealInput tOff(
+    final quantity="Time",
+    final unit="s",
+    min=100*Buildings.Controls.OBC.CDL.Constants.eps)
+    "Length for the off period"
+    annotation (Placement(transformation(extent={{-200,-40},{-160,0}}),
+    iconTransformation(extent={{-140,-60},{-100,-20}})));
+  Buildings.Controls.OBC.CDL.Interfaces.RealInput tau(
+    final quantity="Time",
+    final unit="s",
+    min=100*Buildings.Controls.OBC.CDL.Constants.eps)
+    "Normalized time delay"
+    annotation (Placement(transformation(extent={{-200,-80},{-160,-40}}),
+        iconTransformation(extent={{-140,-100},{-100,-60}})));
+  Buildings.Controls.OBC.CDL.Interfaces.RealInput u
+    "Output of a relay controller"
+    annotation (Placement(transformation(extent={{-200,60},{-160,100}}),
+        iconTransformation(extent={{-140,60},{-100,100}})));
+  Buildings.Controls.OBC.CDL.Interfaces.BooleanInput triSta
+    "Relay tuning status, true if the tuning starts"
+    annotation (Placement(transformation(extent={{-20,-20},{20,20}},
+        rotation=90, origin={-110,-120}),iconTransformation(
+        extent={{-20,-20},{20,20}},
+        rotation=90,
+        origin={-60,-120})));
+  Buildings.Controls.OBC.CDL.Interfaces.BooleanInput triEnd
+    "Relay tuning status, true if the tuning ends"
+    annotation (Placement(transformation(extent={{-20,-20},{20,20}},
+        rotation=90, origin={130,-120}),iconTransformation(
+        extent={{-20,-20},{20,20}},
+        rotation=90,
+        origin={60,-120})));
+  Buildings.Controls.OBC.CDL.Interfaces.RealOutput k
+    "Gain"
+    annotation (Placement(transformation(extent={{160,60},{200,100}}),
+        iconTransformation(extent={{100,60},{140,100}})));
+  Buildings.Controls.OBC.CDL.Interfaces.RealOutput T(
+    final quantity="Time",
+    final unit="s",
+    min=100*Buildings.Controls.OBC.CDL.Constants.eps)
+    "Time constant"
+    annotation (Placement(transformation(extent={{160,20},{200,60}}),
+        iconTransformation(extent={{100,20},{140,60}})));
+  Buildings.Controls.OBC.CDL.Interfaces.RealOutput L(
+    final quantity="Time",
+    final unit="s",
+    min=100*Buildings.Controls.OBC.CDL.Constants.eps)
+    "Time delay"
+    annotation (Placement(transformation(extent={{160,-60},{200,-20}}),
+        iconTransformation(extent={{100,-60},{140,-20}})));
+  Buildings.Controls.OBC.CDL.Interfaces.BooleanOutput tunSta
+    "True when the autotuning completes successfully"
+    annotation (Placement(transformation(extent={{160,-100},{200,-60}}),
+        iconTransformation(extent={{100,-100},{140,-60}})));
+protected
+  Buildings.Controls.OBC.CDL.Reals.AddParameter addPar(
+    final p=1)
+    "Block that calculates the difference between 1 and the normalized time delay"
+    annotation (Placement(transformation(extent={{-40,-70},{-20,-50}})));
+  Buildings.Controls.OBC.CDL.Reals.Divide div
+    "The output of samtau divided by that of addPar"
+    annotation (Placement(transformation(extent={{20,-30},{40,-10}})));
+  Buildings.Controls.OBC.Utilities.PIDWithAutotuning.SystemIdentification.FirstOrderTimedelayed.BaseClasses.Gain gain(
+    final yHig=yHig,
+    final yLow=yLow)
+    "Block that calculates the gain"
+    annotation (Placement(transformation(extent={{-120,10},{-100,30}})));
+  Buildings.Controls.OBC.Utilities.PIDWithAutotuning.SystemIdentification.FirstOrderTimedelayed.BaseClasses.TimeConstantDelay
+    timConDel(
+      final yHig=yHig,
+      final yLow=yLow,
+      final deaBan=deaBan)
+    "Block that calculate the time constant and the time delay"
+    annotation (Placement(transformation(extent={{60,10},{80,30}})));
+  Buildings.Controls.OBC.CDL.Discrete.TriggeredSampler samk(
+    final y_start=1)
+    "Block that samples the gain when the tuning period ends"
+    annotation (Placement(transformation(extent={{-60,10},{-40,30}})));
+  Buildings.Controls.OBC.CDL.Discrete.TriggeredSampler samL(
+    final y_start=1)
+    "Block that samples the time delay when the tuning period ends"
+    annotation (Placement(transformation(extent={{100,-50},{120,-30}})));
+  Buildings.Controls.OBC.CDL.Discrete.TriggeredSampler samtOn(
+    final y_start=1)
+    "Block that samples the length of the on period when the tuning period ends"
+    annotation (Placement(transformation(extent={{-20,50},{0,70}})));
+  Buildings.Controls.OBC.CDL.Discrete.TriggeredSampler samT(
+    final y_start=1)
+    "Block that samples the time constant when the tuning period ends"
+    annotation (Placement(transformation(extent={{120,10},{140,30}})));
+  Buildings.Controls.OBC.CDL.Discrete.TriggeredSampler samtau(
+    final y_start=0.5)
+    "Block that samples the normalized time delay when the tuning period ends"
+    annotation (Placement(transformation(extent={{-140,-70},{-120,-50}})));
+  Buildings.Controls.OBC.CDL.Reals.MultiplyByParameter gai(
+    final k=-1)
+    "Product of the normalized time delay and -1"
+    annotation (Placement(transformation(extent={{-80,-70},{-60,-50}})));
+  Buildings.Controls.OBC.CDL.Reals.Abs abs1
+    "Absolute gain value"
+    annotation (Placement(transformation(extent={{-90,10},{-70,30}})));
+  Buildings.Controls.OBC.CDL.Logical.Not not1
+    "Check if an error occurs during the autotuning process"
+    annotation (Placement(transformation(extent={{40,-60},{60,-40}})));
+  Buildings.Controls.OBC.CDL.Logical.And and2
+    "Check if the autotuning completes successfully"
+    annotation (Placement(transformation(extent={{80,-80},{100,-60}})));
+  Buildings.Controls.OBC.CDL.Utilities.Assert assMes4(message="In " +
+        getInstanceName() +
+        ": an autotuning fails, the controller gains are unchanged.")
+    "Warning message when an autotuning fails"
+    annotation (Placement(transformation(extent={{134,50},{154,70}})));
+  Buildings.Controls.OBC.CDL.Logical.Not not2 "Check if an error occurs"
+    annotation (Placement(transformation(extent={{100,50},{120,70}})));
+equation
+  connect(gain.u, u) annotation (Line(points={{-122,28},{-140,28},{-140,80},{-180,
+          80}},  color={0,0,127}));
+  connect(gain.tOn, tOn) annotation (Line(points={{-122,20},{-150,20},{-150,40},
+          {-180,40}},color={0,0,127}));
+  connect(gain.tOff, tOff) annotation (Line(points={{-122,12},{-150,12},{-150,-20},
+          {-180,-20}}, color={0,0,127}));
+  connect(gain.triSta, triSta) annotation (Line(points={{-110,8},{-110,-120}},
+         color={255,0,255}));
+  connect(timConDel.T, samT.u)
+    annotation (Line(points={{82,28},{100,28},{100,20},{118,20}}, color={0,0,127}));
+  connect(samT.y, T)
+    annotation (Line(points={{142,20},{148,20},{148,40},{180,40}},
+                                                 color={0,0,127}));
+  connect(samT.trigger, triEnd) annotation (Line(points={{130,8},{130,-120}},
+         color={255,0,255}));
+  connect(L, samL.y)
+    annotation (Line(points={{180,-40},{122,-40}},color={0,0,127}));
+  connect(samL.u, timConDel.L) annotation (Line(points={{98,-40},{90,-40},{90,20},
+          {82,20}}, color={0,0,127}));
+  connect(samL.trigger, triEnd) annotation (Line(points={{110,-52},{110,-70},{130,
+          -70},{130,-120}},  color={255,0,255}));
+  connect(samk.y, timConDel.k)
+    annotation (Line(points={{-38,20},{58,20}},
+         color={0,0,127}));
+  connect(samk.trigger, triEnd) annotation (Line(points={{-50,8},{-50,-90},{130,
+          -90},{130,-120}},color={255,0,255}));
+  connect(samk.y, k) annotation (Line(points={{-38,20},{52,20},{52,80},{180,80}},
+                color={0,0,127}));
+  connect(timConDel.tOn, samtOn.y) annotation (Line(points={{58,26},{20,26},{20,
+          60},{2,60}},  color={0,0,127}));
+  connect(samtOn.u, tOn)
+    annotation (Line(points={{-22,60},{-150,60},{-150,40},{-180,40}},
+        color={0,0,127}));
+  connect(samtOn.trigger, triEnd) annotation (Line(points={{-10,48},{-10,-90},{130,
+          -90},{130,-120}}, color={255,0,255}));
+  connect(gai.y, addPar.u)
+    annotation (Line(points={{-58,-60},{-42,-60}}, color={0,0,127}));
+  connect(tau, samtau.u)
+    annotation (Line(points={{-180,-60},{-142,-60}},color={0,0,127}));
+  connect(samtau.y, gai.u)
+    annotation (Line(points={{-118,-60},{-82,-60}},color={0,0,127}));
+  connect(samtau.y, div.u1) annotation (Line(points={{-118,-60},{-100,-60},{-100,
+          -14},{18,-14}}, color={0,0,127}));
+  connect(triEnd, samtau.trigger) annotation (Line(points={{130,-120},{130,-90},
+          {-130,-90},{-130,-72}}, color={255,0,255}));
+  connect(addPar.y, div.u2) annotation (Line(points={{-18,-60},{0,-60},{0,-26},{
+          18,-26}}, color={0,0,127}));
+  connect(div.y, timConDel.rat) annotation (Line(points={{42,-20},{50,-20},{50,14},
+          {58,14}}, color={0,0,127}));
+  connect(gain.k, abs1.u)
+    annotation (Line(points={{-98,20},{-92,20}}, color={0,0,127}));
+  connect(abs1.y, samk.u)
+    annotation (Line(points={{-68,20},{-62,20}}, color={0,0,127}));
+  connect(and2.u1, not1.y) annotation (Line(points={{78,-70},{68,-70},{68,-50},{
+          62,-50}}, color={255,0,255}));
+  connect(and2.y, tunSta) annotation (Line(points={{102,-70},{106,-70},{106,-80},
+          {180,-80}}, color={255,0,255}));
+  connect(and2.u2, triEnd) annotation (Line(points={{78,-78},{0,-78},{0,-90},{
+          130,-90},{130,-120}}, color={255,0,255}));
+  connect(timConDel.triFai, not1.u) annotation (Line(points={{82,12},{86,12},{86,
+          0},{8,0},{8,-50},{38,-50}},    color={255,0,255}));
+  connect(not2.y, assMes4.u)
+    annotation (Line(points={{122,60},{132,60}}, color={255,0,255}));
+  connect(not2.u, timConDel.triFai) annotation (Line(points={{98,60},{96,60},{96,
+          12},{82,12}}, color={255,0,255}));
+annotation (
+        defaultComponentName = "conProMod",
+        Icon(coordinateSystem(preserveAspectRatio=false, extent={{-100,-100},{100,
+            100}}),                                       graphics={
+        Rectangle(
+          extent={{-100,-100},{100,100}},
+          lineColor={0,0,127},
+          fillColor={255,255,255},
+          fillPattern=FillPattern.Solid),
+        Text(
+          extent={{-100,160},{100,120}},
+          textString="%name",
+          textColor={0,0,255}),
+        Polygon(
+          points={{-68,76},{-76,54},{-60,54},{-68,76}},
+          lineColor={192,192,192},
+          fillColor={192,192,192},
+          fillPattern=FillPattern.Solid),
+        Polygon(
+          points={{80,-74},{58,-66},{58,-82},{80,-74}},
+          lineColor={192,192,192},
+          fillColor={192,192,192},
+          fillPattern=FillPattern.Solid),
+        Line(points={{-68,54},{-68,-94}}, color={28,108,200}),
+        Line(points={{58,-74},{-90,-74}}, color={28,108,200}),
+        Line(points={{-52,-74},{-46,-48},{-26,-14},{0,10},{28,28},{48,34},{62,
+              34}}, color={28,108,200}),
+        Line(points={{-58,36},{82,36}}, color={28,108,200},
+          pattern=LinePattern.Dash)}),
+  Diagram(coordinateSystem(preserveAspectRatio=false, extent={{-160,-100},{160,100}})),
+    Documentation(revisions="<html>
+<ul>
+<li>
+March 8, 2024, by Michael Wetter:<br/>
+Changed deadband to be consistent within the package.
+</li>
+<li>
+June 1, 2022, by Sen Huang:<br/>
+First implementation<br/>
+</li>
+</ul>
+</html>", info="<html>
+<p>
+This block calculates the model parameters of a first-order time delayed model.
+Specifically, it employs
+<a href=\"modelica://Buildings.Controls.OBC.Utilities.PIDWithAutotuning.SystemIdentification.FirstOrderTimedelayed.BaseClasses.Gain\">
+Buildings.Controls.OBC.Utilities.PIDWithAutotuning.SystemIdentification.FirstOrderTimedelayed.BaseClasses.Gain</a>
+and
+<a href=\"modelica://Buildings.Controls.OBC.Utilities.PIDWithAutotuning.SystemIdentification.FirstOrderTimedelayed.BaseClasses.TimeConstantDelay\">
+Buildings.Controls.OBC.Utilities.PIDWithAutotuning.SystemIdentification.FirstOrderTimedelayed.BaseClasses.TimeConstantDelay</a>
+to identify the gain, the time constant and the time delay, respectively.
+</p>
+<p>
+The calculations are disabled by default. They will be enabled once the tuning period starts,
+i.e., <code>triSta</code> becomes <code>true</code>.
+It then calculates the model parameters at the time when the tuning period ends,
+i.e., <code>triEnd</code> becomes <code>true</code>.
+</p>
+<p>
+Refer to <a href=\"modelica://Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.Controller\">
+Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.Controller</a> for detailed explanation
+of the parameters <code>yHig</code>, <code>yLow</code>, and <code>deaBan</code>.
+</p>
+</html>"));
+end ControlProcessModel;
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/SystemIdentification/FirstOrderTimedelayed/Validation/ControlProcessModel.mo b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/SystemIdentification/FirstOrderTimedelayed/Validation/ControlProcessModel.mo
new file mode 100644
index 00000000000..5e6dc0c0938
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/SystemIdentification/FirstOrderTimedelayed/Validation/ControlProcessModel.mo
@@ -0,0 +1,117 @@
+within Buildings.Controls.OBC.Utilities.PIDWithAutotuning.SystemIdentification.FirstOrderTimedelayed.Validation;
+model ControlProcessModel
+  "Test model for identifying the reduced-order model of the control process"
+  Buildings.Controls.OBC.Utilities.PIDWithAutotuning.SystemIdentification.FirstOrderTimedelayed.ControlProcessModel
+    conProMod(
+      yHig=1,
+      yLow=0.1,
+      deaBan=0.05)
+    "Calculate the parameters of a first-order model"
+    annotation (Placement(transformation(extent={{40,-10},{60,10}})));
+  Buildings.Controls.OBC.CDL.Reals.Sources.Pulse u(
+    amplitude=0.5,
+    width=0.125,
+    period=0.8,
+    offset=0.5)
+    "The response of a relay controller"
+    annotation (Placement(transformation(extent={{-40,70},{-20,90}})));
+  Buildings.Controls.OBC.CDL.Reals.Sources.Pulse tOn(
+    amplitude=-0.1,
+    width=0.1,
+    period=1,
+    offset=0.1)
+    "The length of the on period"
+    annotation (Placement(transformation(extent={{-80,40},{-60,60}})));
+  Buildings.Controls.OBC.CDL.Reals.Sources.Pulse tOff(
+    amplitude=-0.7,
+    width=0.8,
+    period=1,
+    offset=0.7)
+    "The length of the off period"
+    annotation (Placement(transformation(extent={{-40,10},{-20,30}})));
+  Buildings.Controls.OBC.CDL.Logical.Sources.Pulse tunSta(
+    width=0.9,
+    period=1,
+    shift=-0.9)
+    "The signal for the tuning period starts"
+    annotation (Placement(transformation(extent={{-40,-50},{-20,-30}})));
+  Buildings.Controls.OBC.CDL.Logical.Sources.Pulse tunEnd(
+    width=0.1,
+    period=1,
+    shift=0.9)
+    "The signal for the tuning period ends"
+    annotation (Placement(transformation(extent={{-80,-80},{-60,-60}})));
+  Buildings.Controls.OBC.CDL.Reals.Sources.Pulse ratioLT(
+    amplitude=-0.1,
+    width=0.4,
+    period=0.8,
+    offset=0.4)
+    "Ratio between the time constant and the time delay"
+    annotation (Placement(transformation(extent={{-80,-20},{-60,0}})));
+equation
+  connect(tunSta.y, conProMod.triSta)
+    annotation (Line(points={{-18,-40},{44,-40},{44,-12}}, color={255,0,255}));
+  connect(conProMod.triEnd, tunEnd.y)
+    annotation (Line(points={{56,-12},{56,-70},{-58,-70}}, color={255,0,255}));
+  connect(u.y, conProMod.u) annotation (Line(points={{-18,80},{20,80},{20,8},{38,
+          8}},     color={0,0,127}));
+  connect(tOn.y, conProMod.tOn) annotation (Line(points={{-58,50},{10,50},{10,4},
+          {38,4}},     color={0,0,127}));
+  connect(conProMod.tOff, tOff.y) annotation (Line(points={{38,-4},{0,-4},{0,20},
+          {-18,20}},     color={0,0,127}));
+  connect(ratioLT.y, conProMod.tau) annotation (Line(points={{-58,-10},{-20,-10},
+          {-20,-8},{38,-8}},  color={0,0,127}));
+  annotation (
+      experiment(
+      StopTime=1.0,
+      Tolerance=1e-06),
+    __Dymola_Commands(
+      file="modelica://Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/SystemIdentification/FirstOrderTimedelayed/Validation/ControlProcessModel.mos" "Simulate and plot"),
+    Icon( coordinateSystem(
+        preserveAspectRatio=false,
+        extent={{-100,-100},{100,100}}),
+      graphics={
+        Ellipse(
+          lineColor={75,138,73},
+          fillColor={255,255,255},
+          fillPattern=FillPattern.Solid,
+          extent={{-100,-100},{100,100}}),
+        Polygon(
+          lineColor={0,0,255},
+          fillColor={75,138,73},
+          pattern=LinePattern.None,
+          fillPattern=FillPattern.Solid,
+          points={{-36,60},{64,0},{-36,-60},{-36,60}})}),Diagram(
+        coordinateSystem(preserveAspectRatio=false)),
+    Documentation(revisions="<html>
+<ul>
+<li>
+June 1, 2022, by Sen Huang:<br/>
+First implementation<br/>
+</li>
+</ul>
+</html>", info="<html>
+<p>
+Validation test for the block
+<a href=\"modelica://Buildings.Controls.OBC.Utilities.PIDWithAutotuning.SystemIdentification.FirstOrderTimedelayed.ControlProcessModel\">
+Buildings.Controls.OBC.Utilities.PIDWithAutotuning.SystemIdentification.FirstOrderTimedelayed.ControlProcessModel</a>.
+</p>
+<p>
+This example considers an output from a relay controller, which is described below:
+</p>
+<ul>
+<li>
+At <i>0.1</i>s, the output switches from On to Off.
+</li>
+<li>
+At <i>0.8</i>s, the output switches to On.
+</li>
+<li>
+At <i>0.9</i>s, the output switches to Off.
+</li>
+</ul>
+<p>
+This output triggers an autotuning process that lasts from <i>0.1</i>s to <i>0.9</i>s.
+</p>
+</html>"));
+end ControlProcessModel;
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/SystemIdentification/FirstOrderTimedelayed/Validation/package.mo b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/SystemIdentification/FirstOrderTimedelayed/Validation/package.mo
new file mode 100644
index 00000000000..2abd28f11cd
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/SystemIdentification/FirstOrderTimedelayed/Validation/package.mo
@@ -0,0 +1,32 @@
+within Buildings.Controls.OBC.Utilities.PIDWithAutotuning.SystemIdentification.FirstOrderTimedelayed;
+package Validation "Collection of models that validate the blocks in the FirstOrderTimedelayed"
+  annotation (
+    preferredView="info",
+    Documentation(
+      info="<html>
+<p>
+This package contains models that validate the blocks in
+<a href=\"modelica://Buildings.Controls.OBC.Utilities.PIDWithAutotuning.SystemIdentification.FirstOrderTimedelayed\">
+Buildings.Controls.OBC.Utilities.PIDWithAutotuning.SystemIdentification.FirstOrderTimedelayed</a>.
+</p>
+</html>"),
+    Icon(
+      graphics={
+        Rectangle(
+          lineColor={200,200,200},
+          fillColor={248,248,248},
+          fillPattern=FillPattern.HorizontalCylinder,
+          extent={{-100.0,-100.0},{100.0,100.0}},
+          radius=25.0),
+        Rectangle(
+          lineColor={128,128,128},
+          extent={{-100.0,-100.0},{100.0,100.0}},
+          radius=25.0),
+        Polygon(
+          origin={8.0,14.0},
+          lineColor={78,138,73},
+          fillColor={78,138,73},
+          pattern=LinePattern.None,
+          fillPattern=FillPattern.Solid,
+          points={{-58.0,46.0},{42.0,-14.0},{-58.0,-74.0},{-58.0,46.0}})}));
+end Validation;
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/SystemIdentification/FirstOrderTimedelayed/Validation/package.order b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/SystemIdentification/FirstOrderTimedelayed/Validation/package.order
new file mode 100644
index 00000000000..ebe808ae6a9
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/SystemIdentification/FirstOrderTimedelayed/Validation/package.order
@@ -0,0 +1 @@
+ControlProcessModel
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/SystemIdentification/FirstOrderTimedelayed/package.mo b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/SystemIdentification/FirstOrderTimedelayed/package.mo
new file mode 100644
index 00000000000..8e22ff8322c
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/SystemIdentification/FirstOrderTimedelayed/package.mo
@@ -0,0 +1,41 @@
+within Buildings.Controls.OBC.Utilities.PIDWithAutotuning.SystemIdentification;
+package FirstOrderTimedelayed "Package with components related to a first-order time delayed model"
+annotation (Documentation(info="<html>
+<p>This package contains the blocks to identify the parameters of a first-order time delayed model. </p>
+</html>"),
+    Icon(
+      graphics={
+        Rectangle(
+          lineColor={200,200,200},
+          fillColor={248,248,248},
+          fillPattern=FillPattern.HorizontalCylinder,
+          extent={{-100.0,-100.0},{100.0,100.0}},
+          radius=25.0),
+        Rectangle(
+          lineColor={128,128,128},
+          extent={{-100.0,-100.0},{100.0,100.0}},
+          radius=25.0),
+        Ellipse(
+          origin={10.0,10.0},
+          fillColor={76,76,76},
+          pattern=LinePattern.None,
+          fillPattern=FillPattern.Solid,
+          extent={{-80.0,-80.0},{-20.0,-20.0}}),
+        Ellipse(
+          origin={10.0,10.0},
+          pattern=LinePattern.None,
+          fillPattern=FillPattern.Solid,
+          extent={{0.0,-80.0},{60.0,-20.0}}),
+        Ellipse(
+          origin={10.0,10.0},
+          fillColor={128,128,128},
+          pattern=LinePattern.None,
+          fillPattern=FillPattern.Solid,
+          extent={{0.0,0.0},{60.0,60.0}}),
+        Ellipse(
+          origin={10.0,10.0},
+          lineColor={128,128,128},
+          fillColor={255,255,255},
+          fillPattern=FillPattern.Solid,
+          extent={{-80.0,0.0},{-20.0,60.0}})}));
+end FirstOrderTimedelayed;
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/SystemIdentification/FirstOrderTimedelayed/package.order b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/SystemIdentification/FirstOrderTimedelayed/package.order
new file mode 100644
index 00000000000..774c16c1384
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/SystemIdentification/FirstOrderTimedelayed/package.order
@@ -0,0 +1,3 @@
+ControlProcessModel
+Validation
+BaseClasses
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/SystemIdentification/package.mo b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/SystemIdentification/package.mo
new file mode 100644
index 00000000000..56f036ba70d
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/SystemIdentification/package.mo
@@ -0,0 +1,43 @@
+within Buildings.Controls.OBC.Utilities.PIDWithAutotuning;
+package SystemIdentification "Package with blocks for identifying a system model of the control process"
+annotation (Documentation(info="<html>
+<p>
+This package contains blocks that conduct the system identification of the control process.
+</p>
+</html>"),
+   Icon(
+      graphics={
+        Rectangle(
+          lineColor={200,200,200},
+          fillColor={248,248,248},
+          fillPattern=FillPattern.HorizontalCylinder,
+          extent={{-100.0,-100.0},{100.0,100.0}},
+          radius=25.0),
+        Rectangle(
+          lineColor={128,128,128},
+          extent={{-100.0,-100.0},{100.0,100.0}},
+          radius=25.0),
+        Ellipse(
+          origin={10.0,10.0},
+          fillColor={76,76,76},
+          pattern=LinePattern.None,
+          fillPattern=FillPattern.Solid,
+          extent={{-80.0,-80.0},{-20.0,-20.0}}),
+        Ellipse(
+          origin={10.0,10.0},
+          pattern=LinePattern.None,
+          fillPattern=FillPattern.Solid,
+          extent={{0.0,-80.0},{60.0,-20.0}}),
+        Ellipse(
+          origin={10.0,10.0},
+          fillColor={128,128,128},
+          pattern=LinePattern.None,
+          fillPattern=FillPattern.Solid,
+          extent={{0.0,0.0},{60.0,60.0}}),
+        Ellipse(
+          origin={10.0,10.0},
+          lineColor={128,128,128},
+          fillColor={255,255,255},
+          fillPattern=FillPattern.Solid,
+          extent={{-80.0,0.0},{-20.0,60.0}})}));
+end SystemIdentification;
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/SystemIdentification/package.order b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/SystemIdentification/package.order
new file mode 100644
index 00000000000..c39c5a24b14
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/SystemIdentification/package.order
@@ -0,0 +1 @@
+FirstOrderTimedelayed
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Types/SimpleController.mo b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Types/SimpleController.mo
new file mode 100644
index 00000000000..cb0908a8339
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Types/SimpleController.mo
@@ -0,0 +1,33 @@
+within Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Types;
+type SimpleController = enumeration(
+    PI
+  "PI controller",
+    PID
+  "PID controller")
+  "Enumeration defining PI, or PID simple controller type"
+  annotation (Evaluate=true,Documentation(info="<html>
+<p>
+Enumeration to define the type of the controller.
+Possible values are:
+</p>
+<table border=\"1\" summary=\"Explanation of the enumeration\">
+<tr>
+<th>Enumeration</th>
+<th>Description</th></tr>
+<tr><td><code>PI</code></td>
+<td>
+Controller with proportional and integral terms.
+</td></tr>
+<tr><td><code>PID</code></td>
+<td>
+Controller with proportional, integral and derivative terms.
+</td></tr>
+</table>
+</html>",revisions="<html>
+<ul>
+<li>
+August 18, 2023, by Jianjun Hu:<br/>
+First implementation.
+</li>
+</ul>
+</html>"));
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Types/package.mo b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Types/package.mo
new file mode 100644
index 00000000000..fb5d1ef551f
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Types/package.mo
@@ -0,0 +1,37 @@
+within Buildings.Controls.OBC.Utilities.PIDWithAutotuning;
+package Types "Package with type definitions"
+  annotation (
+    Documentation(
+      info="<html>
+<p>
+This package contains type definitions.
+</p>
+</html>"),
+    Icon(
+      graphics={
+        Rectangle(
+          lineColor={200,200,200},
+          fillColor={248,248,248},
+          fillPattern=FillPattern.HorizontalCylinder,
+          extent={{-100.0,-100.0},{100.0,100.0}},
+          radius=25.0),
+        Rectangle(
+          lineColor={128,128,128},
+          extent={{-100.0,-100.0},{100.0,100.0}},
+          radius=25.0),
+        Polygon(
+          origin={-12.167,-23},
+          fillColor={128,128,128},
+          pattern=LinePattern.None,
+          fillPattern=FillPattern.Solid,
+          points={{12.167,65},{14.167,93},{36.167,89},{24.167,20},{4.167,-30},{14.167,-30},{24.167,-30},{24.167,-40},{-5.833,-50},{-15.833,-30},{4.167,20},{12.167,65}},
+          smooth=Smooth.Bezier,
+          lineColor={0,0,0}),
+        Polygon(
+          origin={2.7403,1.6673},
+          fillColor={128,128,128},
+          pattern=LinePattern.None,
+          fillPattern=FillPattern.Solid,
+          points={{49.2597,22.3327},{31.2597,24.3327},{7.2597,18.3327},{-26.7403,10.3327},{-46.7403,14.3327},{-48.7403,6.3327},{-32.7403,0.3327},{-6.7403,4.3327},{33.2597,14.3327},{49.2597,14.3327},{49.2597,22.3327}},
+          smooth=Smooth.Bezier)}));
+end Types;
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Types/package.order b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Types/package.order
new file mode 100644
index 00000000000..10fd40ffff6
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Types/package.order
@@ -0,0 +1 @@
+SimpleController
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Validation/DirectActingPIDWithFirstOrderAMIGO.mo b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Validation/DirectActingPIDWithFirstOrderAMIGO.mo
new file mode 100644
index 00000000000..77bdbc6e449
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Validation/DirectActingPIDWithFirstOrderAMIGO.mo
@@ -0,0 +1,154 @@
+within Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Validation;
+model DirectActingPIDWithFirstOrderAMIGO
+  "Test model for an autotuning direct-acting PID controller"
+  Buildings.Controls.OBC.CDL.Reals.Sources.Constant SetPoint(k=0.8)
+    "Setpoint value"
+    annotation (Placement(transformation(extent={{-80,0},{-60,20}})));
+  Buildings.Controls.OBC.Utilities.PIDWithAutotuning.FirstOrderAMIGO PIDWitTun(
+      controllerType=Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Types.SimpleController.PID,
+      u_s_start=0.8,
+      yLow=0,
+      deaBan=0.1,
+      yRef=0.8,
+      reverseActing=false)
+    "PID controller with an autotuning feature"
+    annotation (Placement(transformation(extent={{-20,-30},{0,-10}})));
+  Buildings.Controls.OBC.CDL.Reals.PIDWithReset PID(
+    controllerType=Buildings.Controls.OBC.CDL.Types.SimpleController.PID,
+    k=1,
+    Ti=0.5,
+    Td=0.1,
+    reverseActing=false)
+    "PID controller with constant gains"
+    annotation (Placement(transformation(extent={{-20,50},{0,70}})));
+  Buildings.Controls.OBC.CDL.Logical.Sources.Constant resSig(k=false)
+    "Reset signal"
+    annotation (Placement(transformation(extent={{-80,60},{-60,80}})));
+  Buildings.Controls.OBC.CDL.Discrete.UnitDelay uniDel2(samplePeriod=240)
+    "A delay process for control process 2"
+    annotation (Placement(transformation(extent={{60,-30},{80,-10}})));
+  Buildings.Controls.OBC.CDL.Discrete.UnitDelay uniDel1(samplePeriod=240)
+    "A delay process for control process 1"
+    annotation (Placement(transformation(extent={{60,50},{80,70}})));
+  Buildings.Controls.OBC.CDL.Reals.Sources.Constant k(k=10)
+    "Gain of the first order process"
+    annotation (Placement(transformation(extent={{60,10},{80,30}})));
+  Buildings.Controls.OBC.CDL.Reals.Sources.Constant T(k=10)
+    "Time constant of the first order process"
+    annotation (Placement(transformation(extent={{10,-66},{30,-46}})));
+  Buildings.Controls.OBC.CDL.Reals.Subtract sub1
+    "A subtract block that is used to mimic the first order process 1"
+    annotation (Placement(transformation(extent={{160,70},{180,90}})));
+  Buildings.Controls.OBC.CDL.Reals.Subtract sub2
+    "A subtract block that is used to mimic the first order process 2"
+    annotation (Placement(transformation(extent={{160,-20},{180,0}})));
+  Buildings.Controls.OBC.CDL.Reals.Derivative derivative1
+    "A derivative block that is used to mimic the first order process 1"
+    annotation (Placement(transformation(extent={{120,10},{140,30}})));
+  Buildings.Controls.OBC.CDL.Reals.Derivative derivative2
+    "A derivative block that is used to mimic the first order process 2"
+    annotation (Placement(transformation(extent={{120,-70},{140,-50}})));
+  Buildings.Controls.OBC.CDL.Logical.Sources.Pulse autTunSig(
+    width=0.9,
+    period=6000,
+    shift=500)
+    "Signal for enabling the autotuning"
+    annotation (Placement(transformation(extent={{-80,-60},{-60,-40}})));
+  Buildings.Controls.OBC.CDL.Reals.Subtract sub3
+    "A subtract block that is used to mimic the direct-acting in the first order process 1"
+    annotation (Placement(transformation(extent={{20,56},{40,76}})));
+  Buildings.Controls.OBC.CDL.Reals.Sources.Constant const(k=1)
+   "constant value 1"
+    annotation (Placement(transformation(extent={{-40,110},{-20,130}})));
+  Buildings.Controls.OBC.CDL.Reals.Subtract sub4
+    "A subtract block that is used to mimic the direct-acting in the first order process 2"
+    annotation (Placement(transformation(extent={{20,-24},{40,-4}})));
+equation
+  connect(resSig.y, PID.trigger) annotation (Line(points={{-58,70},{-40,70},{-40,
+          40},{-16,40},{-16,48}}, color={255,0,255}));
+  connect(SetPoint.y, PID.u_s) annotation (Line(points={{-58,10},{-50,10},{-50,60},
+          {-22,60}}, color={0,0,127}));
+  connect(uniDel1.y, sub1.u1) annotation (Line(points={{82,60},{100,60},{100,86},
+          {158,86}}, color={0,0,127}));
+  connect(k.y, derivative1.k) annotation (Line(points={{82,20},{90,20},{90,28},{
+          118,28}}, color={0,0,127}));
+  connect(derivative1.T, T.y) annotation (Line(points={{118,24},{110,24},{110,-56},
+          {32,-56}}, color={0,0,127}));
+  connect(derivative1.y, sub1.u2) annotation (Line(points={{142,20},{150,20},{150,
+          74},{158,74}}, color={0,0,127}));
+  connect(sub1.y, PID.u_m) annotation (Line(points={{182,80},{190,80},{190,40},{
+          -10,40},{-10,48}}, color={0,0,127}));
+  connect(sub2.u1, uniDel2.y) annotation (Line(points={{158,-4},{100,-4},{100,-20},
+          {82,-20}}, color={0,0,127}));
+  connect(derivative2.y,sub2. u2) annotation (Line(points={{142,-60},{150,-60},{
+          150,-16},{158,-16}}, color={0,0,127}));
+  connect(sub2.y, PIDWitTun.u_m) annotation (Line(points={{182,-10},{190,-10},{190,
+          -40},{-10,-40},{-10,-32}}, color={0,0,127}));
+  connect(derivative2.T, T.y) annotation (Line(points={{118,-56},{32,-56}},
+          color={0,0,127}));
+  connect(derivative1.u, sub1.u1) annotation (Line(points={{118,20},{100,20},{100,
+          86},{158,86}}, color={0,0,127}));
+  connect(derivative2.u, uniDel2.y) annotation (Line(points={{118,-60},{100,-60},
+          {100,-20},{82,-20}}, color={0,0,127}));
+  connect(autTunSig.y, PIDWitTun.triTun)
+    annotation (Line(points={{-58,-50},{-4,-50},{-4,-32}}, color={255,0,255}));
+  connect(k.y, derivative2.k) annotation (Line(points={{82,20},{90,20},{90,-52},
+          {118,-52}},color={0,0,127}));
+  connect(const.y, sub3.u1) annotation (Line(points={{-18,120},{10,120},{10,72},
+          {18,72}},color={0,0,127}));
+  connect(PID.y, sub3.u2)
+    annotation (Line(points={{2,60},{18,60}}, color={0,0,127}));
+  connect(sub3.y, uniDel1.u)
+    annotation (Line(points={{42,66},{50,66},{50,60},{58,60}}, color={0,0,127}));
+  connect(PIDWitTun.y, sub4.u2) annotation (Line(points={{2,-20},{18,-20}},
+         color={0,0,127}));
+  connect(uniDel2.u, sub4.y)
+    annotation (Line(points={{58,-20},{50,-20},{50,-14},{42,-14}}, color={0,0,127}));
+  connect(sub4.u1, const.y) annotation (Line(points={{18,-8},{10,-8},{10,120},{-18,
+          120}}, color={0,0,127}));
+  connect(resSig.y, PIDWitTun.triRes) annotation (Line(points={{-58,70},{-40,70},
+          {-40,-40},{-16,-40},{-16,-32}}, color={255,0,255}));
+  connect(SetPoint.y, PIDWitTun.u_s) annotation (Line(points={{-58,10},{-50,10},
+          {-50,-20},{-22,-20}}, color={0,0,127}));
+  annotation (
+    experiment(
+      StopTime=10000,
+      Tolerance=1e-06),
+    __Dymola_Commands(
+      file="modelica://Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/Validation/DirectActingPIDWithFirstOrderAMIGO.mos" "Simulate and plot"),
+    Documentation(
+      info="<html>
+<p>
+Validation test for the block
+<a href=\"modelica://Buildings.Controls.OBC.Utilities.PIDWithAutotuning.FirstOrderAMIGO\">
+Buildings.Controls.OBC.Utilities.PIDWithAutotuning.FirstOrderAMIGO</a>.
+</p>
+<p>
+This example is similar as <a href=\"modelica://Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Validation.ReverseActingPIDWithFirstOrderAMIGO\">
+Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Validation.ReverseActingPIDWithFirstOrderAMIGO</a>.
+However, direct-acting PID controllers are considered.
+</p>
+</html>",
+      revisions="<html>
+<ul>
+<li>
+December 1, 2023, by Sen Huang:<br/>
+<br>First implementation<br/>
+</li>
+</ul>
+</html>"),
+    Icon(
+      graphics={
+        Ellipse(
+          lineColor={75,138,73},
+          fillColor={255,255,255},
+          fillPattern=FillPattern.Solid,
+          extent={{-100,-100},{100,100}}),
+        Polygon(
+          lineColor={0,0,255},
+          fillColor={75,138,73},
+          pattern=LinePattern.None,
+          fillPattern=FillPattern.Solid,
+          points={{-36,60},{64,0},{-36,-60},{-36,60}})}),
+    Diagram(coordinateSystem(extent={{-100,-80},{200,140}})));
+end DirectActingPIDWithFirstOrderAMIGO;
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Validation/DirectActingPIWithFirstOrderAMIGO.mo b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Validation/DirectActingPIWithFirstOrderAMIGO.mo
new file mode 100644
index 00000000000..b9b49346fe0
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Validation/DirectActingPIWithFirstOrderAMIGO.mo
@@ -0,0 +1,154 @@
+within Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Validation;
+model DirectActingPIWithFirstOrderAMIGO
+  "Test model for an autotuning direct-acting PI controller"
+  Buildings.Controls.OBC.CDL.Reals.Sources.Constant SetPoint(k=0.8)
+    "Setpoint value"
+    annotation (Placement(transformation(extent={{-80,0},{-60,20}})));
+  Buildings.Controls.OBC.Utilities.PIDWithAutotuning.FirstOrderAMIGO PIWitTun(
+     controllerType=Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Types.SimpleController.PI,
+     u_s_start=0.8,
+     yLow=0,
+     deaBan=0.1,
+     yRef=0.8,
+     reverseActing=false)
+     "PI controller with an autotuning feature"
+    annotation (Placement(transformation(extent={{-20,-30},{0,-10}})));
+
+  Buildings.Controls.OBC.CDL.Reals.PIDWithReset PI(
+    controllerType=Buildings.Controls.OBC.CDL.Types.SimpleController.PID,
+    k=1,
+    Ti=0.5,
+    Td=0.1,
+    reverseActing=false)
+    "PI controller with constant gains"
+    annotation (Placement(transformation(extent={{-20,50},{0,70}})));
+  Buildings.Controls.OBC.CDL.Logical.Sources.Constant resSig(k=false)
+    "Reset signal"
+    annotation (Placement(transformation(extent={{-80,60},{-60,80}})));
+  Buildings.Controls.OBC.CDL.Discrete.UnitDelay uniDel2(samplePeriod=240)
+    "A delay process for control process 2"
+    annotation (Placement(transformation(extent={{60,-30},{80,-10}})));
+  Buildings.Controls.OBC.CDL.Discrete.UnitDelay uniDel1(samplePeriod=240)
+    "A delay process for control process 1"
+    annotation (Placement(transformation(extent={{60,50},{80,70}})));
+  Buildings.Controls.OBC.CDL.Reals.Sources.Constant k(k=10)
+    "Gain of the first order process"
+    annotation (Placement(transformation(extent={{60,10},{80,30}})));
+  Buildings.Controls.OBC.CDL.Reals.Sources.Constant T(k=10)
+    "Time constant of the first order process"
+    annotation (Placement(transformation(extent={{10,-66},{30,-46}})));
+  Buildings.Controls.OBC.CDL.Reals.Subtract sub1
+    "A subtract block that is used to mimic the first order process 1"
+    annotation (Placement(transformation(extent={{160,70},{180,90}})));
+  Buildings.Controls.OBC.CDL.Reals.Subtract sub2
+    "A subtract block that is used to mimic the first order process 2"
+    annotation (Placement(transformation(extent={{160,-20},{180,0}})));
+  Buildings.Controls.OBC.CDL.Reals.Derivative derivative1
+    "A derivative block that is used to mimic the first order process 1"
+    annotation (Placement(transformation(extent={{120,10},{140,30}})));
+  Buildings.Controls.OBC.CDL.Reals.Derivative derivative2
+    "A derivative block that is used to mimic the first order process 2"
+    annotation (Placement(transformation(extent={{120,-70},{140,-50}})));
+  Buildings.Controls.OBC.CDL.Logical.Sources.Pulse autTunSig(
+    width=0.9,
+    period=6000,
+    shift=500)
+    "Signal for enabling the autotuning"
+    annotation (Placement(transformation(extent={{-80,-60},{-60,-40}})));
+  Buildings.Controls.OBC.CDL.Reals.Subtract sub3
+    "A subtract block that is used to mimic the direct acting in the first order process 1"
+    annotation (Placement(transformation(extent={{20,56},{40,76}})));
+  Buildings.Controls.OBC.CDL.Reals.Sources.Constant const(k=1)
+   "constant value 1"
+    annotation (Placement(transformation(extent={{-40,110},{-20,130}})));
+  Buildings.Controls.OBC.CDL.Reals.Subtract sub4
+    "A subtract block that is used to mimic the direct acting in the first order process 2"
+    annotation (Placement(transformation(extent={{20,-24},{40,-4}})));
+equation
+  connect(resSig.y, PI.trigger) annotation (Line(points={{-58,70},{-40,70},{-40,
+          40},{-16,40},{-16,48}}, color={255,0,255}));
+  connect(SetPoint.y, PI.u_s) annotation (Line(points={{-58,10},{-50,10},{-50,
+          60},{-22,60}}, color={0,0,127}));
+  connect(uniDel1.y, sub1.u1) annotation (Line(points={{82,60},{110,60},{110,86},
+          {158,86}}, color={0,0,127}));
+  connect(k.y, derivative1.k) annotation (Line(points={{82,20},{90,20},{90,28},
+          {118,28}},color={0,0,127}));
+  connect(derivative1.T, T.y) annotation (Line(points={{118,24},{100,24},{100,
+          -56},{32,-56}}, color={0,0,127}));
+  connect(derivative1.y, sub1.u2) annotation (Line(points={{142,20},{150,20},{
+          150,74},{158,74}}, color={0,0,127}));
+  connect(sub1.y, PI.u_m) annotation (Line(points={{182,80},{190,80},{190,40},{
+          -10,40},{-10,48}}, color={0,0,127}));
+  connect(sub2.u1, uniDel2.y) annotation (Line(points={{158,-4},{110,-4},{110,
+          -20},{82,-20}}, color={0,0,127}));
+  connect(derivative2.y,sub2. u2) annotation (Line(points={{142,-60},{150,-60},
+          {150,-16},{158,-16}}, color={0,0,127}));
+  connect(sub2.y, PIWitTun.u_m) annotation (Line(points={{182,-10},{190,-10},{
+          190,-40},{-10,-40},{-10,-32}}, color={0,0,127}));
+  connect(derivative2.T, T.y) annotation (Line(points={{118,-56},{32,-56}},
+          color={0,0,127}));
+  connect(derivative1.u, sub1.u1) annotation (Line(points={{118,20},{110,20},{
+          110,86},{158,86}}, color={0,0,127}));
+  connect(derivative2.u, uniDel2.y) annotation (Line(points={{118,-60},{110,-60},
+          {110,-20},{82,-20}}, color={0,0,127}));
+  connect(autTunSig.y, PIWitTun.triTun) annotation (Line(points={{-58,-50},{-4,-50},{-4,-32}}, color={255,0,255}));
+  connect(k.y, derivative2.k) annotation (Line(points={{82,20},{90,20},{90,-52},
+          {118,-52}},color={0,0,127}));
+  connect(const.y, sub3.u1) annotation (Line(points={{-18,120},{10,120},{10,72},
+          {18,72}},color={0,0,127}));
+  connect(PI.y, sub3.u2) annotation (Line(points={{2,60},{18,60}},               color={0,0,127}));
+  connect(sub3.y, uniDel1.u)
+    annotation (Line(points={{42,66},{50,66},{50,60},{58,60}},
+         color={0,0,127}));
+  connect(PIWitTun.y, sub4.u2) annotation (Line(points={{2,-20},{18,-20}},
+          color={0,0,127}));
+  connect(uniDel2.u, sub4.y) annotation (Line(points={{58,-20},{50,-20},{50,-14},
+          {42,-14}}, color={0,0,127}));
+  connect(sub4.u1, const.y) annotation (Line(points={{18,-8},{10,-8},{10,120},{
+          -18,120}}, color={0,0,127}));
+  connect(resSig.y, PIWitTun.triRes) annotation (Line(points={{-58,70},{-40,70},
+          {-40,-40},{-16,-40},{-16,-32}}, color={255,0,255}));
+  connect(SetPoint.y, PIWitTun.u_s) annotation (Line(points={{-58,10},{-50,10},
+          {-50,-20},{-22,-20}}, color={0,0,127}));
+  annotation (
+    experiment(
+      StopTime=10000,
+      Tolerance=1e-06),
+    __Dymola_Commands(
+      file="modelica://Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/Validation/DirectActingPIWithFirstOrderAMIGO.mos" "Simulate and plot"),
+    Documentation(
+      info="<html>
+<p>
+Validation test for the block
+<a href=\"modelica://Buildings.Controls.OBC.Utilities.PIDWithAutotuning.FirstOrderAMIGO\">
+Buildings.Controls.OBC.Utilities.PIDWithAutotuning.FirstOrderAMIGO</a>.
+</p>
+<p>
+This example is similar as <a href=\"modelica://Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Validation.ReverseActingPIWithFirstOrderAMIGO\">
+Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Validation.ReverseActingPIWithFirstOrderAMIGO</a>.
+However, direct-acting PI controllers are considered.
+</p>
+</html>",
+      revisions="<html>
+<ul>
+<li>
+December 1, 2023, by Sen Huang:<br/>
+First implementation<br/>
+</li>
+</ul>
+</html>"),
+    Icon(
+      graphics={
+        Ellipse(
+          lineColor={75,138,73},
+          fillColor={255,255,255},
+          fillPattern=FillPattern.Solid,
+          extent={{-100,-100},{100,100}}),
+        Polygon(
+          lineColor={0,0,255},
+          fillColor={75,138,73},
+          pattern=LinePattern.None,
+          fillPattern=FillPattern.Solid,
+          points={{-36,60},{64,0},{-36,-60},{-36,60}})}),
+    Diagram(coordinateSystem(extent={{-100,-80},{200,140}})));
+end DirectActingPIWithFirstOrderAMIGO;
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Validation/ReverseActingPIDWithFirstOrderAMIGO.mo b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Validation/ReverseActingPIDWithFirstOrderAMIGO.mo
new file mode 100644
index 00000000000..26d777618cd
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Validation/ReverseActingPIDWithFirstOrderAMIGO.mo
@@ -0,0 +1,148 @@
+within Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Validation;
+model ReverseActingPIDWithFirstOrderAMIGO
+  "Test model for an autotuning reverse-acting PID controller"
+  Buildings.Controls.OBC.CDL.Reals.Sources.Constant SetPoint(k=0.8)
+    "Setpoint value"
+    annotation (Placement(transformation(extent={{-80,0},{-60,20}})));
+  Buildings.Controls.OBC.Utilities.PIDWithAutotuning.FirstOrderAMIGO PIDWitTun(
+      controllerType=Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Types.SimpleController.PID,
+      u_s_start=0.8,
+      yLow=0,
+      deaBan=0.1,
+      yRef=0.8)
+    "PID controller with an autotuning feature"
+    annotation (Placement(transformation(extent={{-20,-30},{0,-10}})));
+  Buildings.Controls.OBC.CDL.Reals.PIDWithReset PID(
+    controllerType=Buildings.Controls.OBC.CDL.Types.SimpleController.PID,
+    k=1,
+    Ti=0.5,
+    Td=0.1)
+    "PID controller with constant gains"
+    annotation (Placement(transformation(extent={{-20,50},{0,70}})));
+  Buildings.Controls.OBC.CDL.Logical.Sources.Constant resSig(k=false)
+    "Reset signal"
+    annotation (Placement(transformation(extent={{-80,60},{-60,80}})));
+  Buildings.Controls.OBC.CDL.Discrete.UnitDelay uniDel2(samplePeriod=240)
+    "A delay process for control process 2"
+    annotation (Placement(transformation(extent={{20,-30},{40,-10}})));
+  Buildings.Controls.OBC.CDL.Discrete.UnitDelay uniDel1(samplePeriod=240)
+    "A delay process for control process 1"
+    annotation (Placement(transformation(extent={{20,50},{40,70}})));
+  Buildings.Controls.OBC.CDL.Reals.Sources.Constant k(k=10)
+    "Gain of the first order process"
+    annotation (Placement(transformation(extent={{10,10},{30,30}})));
+  Buildings.Controls.OBC.CDL.Reals.Sources.Constant T(k=10)
+    "Time constant of the first order process"
+    annotation (Placement(transformation(extent={{10,-66},{30,-46}})));
+  Buildings.Controls.OBC.CDL.Reals.Subtract sub1
+    "A subtract block that is used to mimic the first order process 1"
+    annotation (Placement(transformation(extent={{120,70},{140,90}})));
+  Buildings.Controls.OBC.CDL.Reals.Subtract sub2
+    "A subtract block that is used to mimic the first order process 2"
+    annotation (Placement(transformation(extent={{120,-20},{140,0}})));
+  Buildings.Controls.OBC.CDL.Reals.Derivative derivative1
+    "A derivative block that is used to mimic the first order process 1"
+    annotation (Placement(transformation(extent={{80,10},{100,30}})));
+  Buildings.Controls.OBC.CDL.Reals.Derivative derivative2
+    "A derivative block that is used to mimic the first order process 2"
+    annotation (Placement(transformation(extent={{80,-70},{100,-50}})));
+  Buildings.Controls.OBC.CDL.Logical.Sources.Pulse autTunSig(
+    width=0.9,
+    period=6000,
+    shift=500)
+    "Signal for enabling the autotuning"
+    annotation (Placement(transformation(extent={{-80,-60},{-60,-40}})));
+equation
+  connect(resSig.y, PID.trigger) annotation (Line(points={{-58,70},{-30,70},{-30,
+          40},{-16,40},{-16,48}}, color={255,0,255}));
+  connect(PIDWitTun.triRes, PID.trigger) annotation (Line(points={{-16,-32},{-16,
+          -38},{-30,-38},{-30,40},{-16,40},{-16,48}}, color={255,0,255}));
+  connect(PIDWitTun.u_s, PID.u_s) annotation (Line(points={{-22,-20},{-48,-20},
+          {-48,60},{-22,60}}, color={0,0,127}));
+  connect(SetPoint.y, PID.u_s) annotation (Line(points={{-58,10},{-48,10},{-48,60},
+          {-22,60}}, color={0,0,127}));
+  connect(PIDWitTun.y, uniDel2.u) annotation (Line(points={{2,-20},{18,-20}},color={0,0,127}));
+  connect(uniDel1.u, PID.y) annotation (Line(points={{18,60},{2,60}},color={0,0,127}));
+  connect(uniDel1.y, sub1.u1) annotation (Line(points={{42,60},{72,60},{72,86},
+          {118,86}}, color={0,0,127}));
+  connect(k.y, derivative1.k) annotation (Line(points={{32,20},{68,20},{68,28},
+          {78,28}}, color={0,0,127}));
+  connect(derivative1.T, T.y) annotation (Line(points={{78,24},{52,24},{52,-56},
+          {32,-56}}, color={0,0,127}));
+  connect(derivative1.y, sub1.u2) annotation (Line(points={{102,20},{112,20},{
+          112,74},{118,74}}, color={0,0,127}));
+  connect(sub1.y, PID.u_m) annotation (Line(points={{142,80},{150,80},{150,40},
+          {-10,40},{-10,48}}, color={0,0,127}));
+  connect(sub2.u1, uniDel2.y) annotation (Line(points={{118,-4},{60,-4},{60,-20},
+          {42,-20}}, color={0,0,127}));
+  connect(derivative2.y,sub2. u2) annotation (Line(points={{102,-60},{110,-60},
+          {110,-16},{118,-16}}, color={0,0,127}));
+  connect(sub2.y, PIDWitTun.u_m) annotation (Line(points={{142,-10},{152,-10},{
+          152,-36},{-10,-36},{-10,-32}}, color={0,0,127}));
+  connect(derivative2.T, T.y) annotation (Line(points={{78,-56},{32,-56}},
+         color={0,0,127}));
+  connect(derivative2.u, uniDel2.y) annotation (Line(points={{78,-60},{60,-60},
+          {60,-20},{42,-20}}, color={0,0,127}));
+  connect(autTunSig.y, PIDWitTun.triTun)
+    annotation (Line(points={{-58,-50},{-4,-50},{-4,-32}}, color={255,0,255}));
+  connect(k.y, derivative2.k) annotation (Line(points={{32,20},{68,20},{68,-52},
+          {78,-52}}, color={0,0,127}));
+  connect(uniDel1.y, derivative1.u) annotation (Line(points={{42,60},{72,60},{
+          72,20},{78,20}}, color={0,0,127}));
+  annotation (
+    experiment(
+      StopTime=10000,
+      Tolerance=1e-06),
+    __Dymola_Commands(
+      file="modelica://Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/Validation/ReverseActingPIDWithFirstOrderAMIGO.mos" "Simulate and plot"),
+    Documentation(
+      info="<html>
+<p>
+Validation test for the block
+<a href=\"modelica://Buildings.Controls.OBC.Utilities.PIDWithAutotuning.FirstOrderAMIGO\">
+Buildings.Controls.OBC.Utilities.PIDWithAutotuning.FirstOrderAMIGO</a>.
+</p>
+<p>
+This example compares the output of an autotuning PID controller (<code>PIDWitTun</code>)
+to that of a normal PID controller (<code>PID</code>) with prescribed gains.
+</p>
+<p>
+Both PID controllers are connected with a first-order control process.
+At the beginning (<i>0</i>s-<i>500</i>s), the outputs from those two PID controllers 
+are identical as their prescribed gains are the same.
+</p>
+<p>
+Once the autotuning starts at <i>500</i>s, the outputs of the two PID controllers become different.
+After the tuning completes, under the control of <code>PIDWitTun</code>, the value of the controlled variable
+is close to the setpoint after the tuning period ends (<code>PIDWitTun.resPro.triEnd = true</code>). 
+On the contrary, <code>PID</code> has a poor control performance,
+i.e., the value of the controlled variable oscillates.
+</p>
+<p>
+The example also shows that the autotunning process can be re-triggered
+when the input <code>triTun</code> becomes <code>true</code>.
+</p>
+</html>",
+      revisions="<html>
+<ul>
+<li>
+June 1, 2022, by Sen Huang:<br/>
+First implementation<br/>
+</li>
+</ul>
+</html>"),
+    Icon(
+      graphics={
+        Ellipse(
+          lineColor={75,138,73},
+          fillColor={255,255,255},
+          fillPattern=FillPattern.Solid,
+          extent={{-100,-100},{100,100}}),
+        Polygon(
+          lineColor={0,0,255},
+          fillColor={75,138,73},
+          pattern=LinePattern.None,
+          fillPattern=FillPattern.Solid,
+          points={{-36,60},{64,0},{-36,-60},{-36,60}})}),
+    Diagram(coordinateSystem(extent={{-100,-80},{200,100}})));
+end ReverseActingPIDWithFirstOrderAMIGO;
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Validation/ReverseActingPIWithFirstOrderAMIGO.mo b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Validation/ReverseActingPIWithFirstOrderAMIGO.mo
new file mode 100644
index 00000000000..20bba052ac6
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Validation/ReverseActingPIWithFirstOrderAMIGO.mo
@@ -0,0 +1,134 @@
+within Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Validation;
+model ReverseActingPIWithFirstOrderAMIGO
+  "Test model for an autotuning reverse-acting PI controller"
+  Buildings.Controls.OBC.CDL.Reals.Sources.Constant SetPoint(k=0.8)
+    "Setpoint value"
+    annotation (Placement(transformation(extent={{-80,0},{-60,20}})));
+  Buildings.Controls.OBC.Utilities.PIDWithAutotuning.FirstOrderAMIGO PIWitTun(
+     controllerType=Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Types.SimpleController.PI,
+     u_s_start=0.8,
+     yLow=0,
+     deaBan=0.1,
+     yRef=0.8)
+    "PI controller with an autotuning feature"
+    annotation (Placement(transformation(extent={{-20,-30},{0,-10}})));
+  Buildings.Controls.OBC.CDL.Reals.PIDWithReset PI(
+    controllerType=Buildings.Controls.OBC.CDL.Types.SimpleController.PI,
+    k=1,
+    Ti=0.5,
+    Td=0.1)
+    "PI controller with constant gains"
+    annotation (Placement(transformation(extent={{-20,50},{0,70}})));
+  Buildings.Controls.OBC.CDL.Logical.Sources.Constant resSig(k=false)
+    "Reset signal"
+    annotation (Placement(transformation(extent={{-80,60},{-60,80}})));
+  Buildings.Controls.OBC.CDL.Discrete.UnitDelay uniDel1(samplePeriod=240)
+    "A delay process for control process 1"
+    annotation (Placement(transformation(extent={{10,50},{30,70}})));
+  Buildings.Controls.OBC.CDL.Discrete.UnitDelay uniDel2(samplePeriod=240)
+    "A delay process for control process 2"
+    annotation (Placement(transformation(extent={{10,-30},{30,-10}})));
+  Buildings.Controls.OBC.CDL.Reals.Sources.Constant k(k=10)
+    "Gain of the first order process"
+    annotation (Placement(transformation(extent={{180,20},{160,40}})));
+  Buildings.Controls.OBC.CDL.Reals.Sources.Constant T(k=10)
+    "Time constant of the first order process"
+    annotation (Placement(transformation(extent={{180,-20},{160,0}})));
+  Buildings.Controls.OBC.CDL.Reals.Subtract sub1
+    "A subtract block that is used to mimic the first order process 1"
+    annotation (Placement(transformation(extent={{60,70},{80,90}})));
+  Buildings.Controls.OBC.CDL.Reals.Subtract sub2
+    "A subtract block that is used to mimic the first order process 2"
+    annotation (Placement(transformation(extent={{60,-20},{80,0}})));
+  Buildings.Controls.OBC.CDL.Reals.Derivative derivative1
+    "A derivative block that is used to mimic the first order process 1"
+    annotation (Placement(transformation(extent={{80,30},{60,50}})));
+  Buildings.Controls.OBC.CDL.Reals.Derivative derivative2
+    "A derivative block that is used to mimic the first order process 2"
+    annotation (Placement(transformation(extent={{80,-60},{60,-40}})));
+  Buildings.Controls.OBC.CDL.Logical.Sources.Pulse autTunSig(
+    width=0.9,
+    period=6000,
+    shift=500)
+    "Signal for enabling the autotuning"
+    annotation (Placement(transformation(extent={{-80,-60},{-60,-40}})));
+
+equation
+  connect(resSig.y, PI.trigger) annotation (Line(points={{-58,70},{-30,70},{-30,
+          40},{-16,40},{-16,48}}, color={255,0,255}));
+  connect(PIWitTun.triRes, PI.trigger) annotation (Line(points={{-16,-32},{-16,
+          -40},{-30,-40},{-30,40},{-16,40},{-16,48}}, color={255,0,255}));
+  connect(PIWitTun.u_s, PI.u_s) annotation (Line(points={{-22,-20},{-48,-20},{-48,
+          60},{-22,60}}, color={0,0,127}));
+  connect(SetPoint.y, PI.u_s) annotation (Line(points={{-58,10},{-48,10},{-48,60},
+          {-22,60}}, color={0,0,127}));
+  connect(PIWitTun.y, uniDel2.u) annotation (Line(points={{2,-20},{8,-20}}, color={0,0,127}));
+  connect(uniDel1.u, PI.y) annotation (Line(points={{8,60},{2,60}}, color={0,0,127}));
+  connect(uniDel1.y, sub1.u1) annotation (Line(points={{32,60},{40,60},{40,86},{
+          58,86}}, color={0,0,127}));
+  connect(k.y, derivative1.k) annotation (Line(points={{158,30},{148,30},{148,
+          48},{82,48}}, color={0,0,127}));
+  connect(derivative1.T, T.y) annotation (Line(points={{82,44},{112,44},{112,
+          -46},{148,-46},{148,-10},{158,-10}}, color={0,0,127}));
+  connect(derivative1.y, sub1.u2) annotation (Line(points={{58,40},{50,40},{50,
+          74},{58,74}}, color={0,0,127}));
+  connect(sub1.y, PI.u_m) annotation (Line(points={{82,80},{88,80},{88,60},{46,
+          60},{46,40},{-10,40},{-10,48}}, color={0,0,127}));
+  connect(sub2.u1, uniDel2.y) annotation (Line(points={{58,-4},{40,-4},{40,-20},
+          {32,-20}}, color={0,0,127}));
+  connect(derivative2.y,sub2. u2) annotation (Line(points={{58,-50},{52,-50},{
+          52,-16},{58,-16}}, color={0,0,127}));
+  connect(sub2.y, PIWitTun.u_m) annotation (Line(points={{82,-10},{88,-10},{88,
+          -28},{46,-28},{46,-40},{-10,-40},{-10,-32}}, color={0,0,127}));
+  connect(derivative2.k, derivative1.k) annotation (Line(points={{82,-42},{92,
+          -42},{92,48},{82,48}}, color={0,0,127}));
+  connect(derivative2.T, T.y) annotation (Line(points={{82,-46},{148,-46},{148,
+          -10},{158,-10}}, color={0,0,127}));
+  connect(derivative1.u, sub1.u1) annotation (Line(points={{82,40},{88,40},{88,
+          20},{40,20},{40,86},{58,86}}, color={0,0,127}));
+  connect(derivative2.u, uniDel2.y) annotation (Line(points={{82,-50},{92,-50},
+          {92,-66},{40,-66},{40,-20},{32,-20}}, color={0,0,127}));
+  connect(autTunSig.y, PIWitTun.triTun)
+    annotation (Line(points={{-58,-50},{-4,-50},{-4,-32}}, color={255,0,255}));
+  annotation (
+    experiment(
+      StopTime=10000,
+      Tolerance=1e-06),
+    __Dymola_Commands(
+      file="modelica://Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/Validation/ReverseActingPIWithFirstOrderAMIGO.mos" "Simulate and plot"),
+    Documentation(
+      info="<html>
+<p>
+Validation test for the block
+<a href=\"modelica://Buildings.Controls.OBC.Utilities.PIDWithAutotuning.FirstOrderAMIGO\">
+Buildings.Controls.OBC.Utilities.PIDWithAutotuning.FirstOrderAMIGO</a>.
+</p>
+<p>
+This example is similar as <a href=\"modelica://Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Validation.ReverseActingPIDWithFirstOrderAMIGO\">
+Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Validation.ReverseActingPIDWithFirstOrderAMIGO</a>.
+However, an autotuning PI controller rather than an autotuning PID controller is considered in this example.
+</p>
+</html>",
+      revisions="<html>
+<ul>
+<li>
+June 1, 2022, by Sen Huang:<br/>
+First implementation<br/>
+</li>
+</ul>
+</html>"),
+    Icon(
+      graphics={
+        Ellipse(
+          lineColor={75,138,73},
+          fillColor={255,255,255},
+          fillPattern=FillPattern.Solid,
+          extent={{-100,-100},{100,100}}),
+        Polygon(
+          lineColor={0,0,255},
+          fillColor={75,138,73},
+          pattern=LinePattern.None,
+          fillPattern=FillPattern.Solid,
+          points={{-36,60},{64,0},{-36,-60},{-36,60}})}),
+    Diagram(coordinateSystem(extent={{-100,-80},{200,100}})));
+end ReverseActingPIWithFirstOrderAMIGO;
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Validation/package.mo b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Validation/package.mo
new file mode 100644
index 00000000000..e840c91b6eb
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Validation/package.mo
@@ -0,0 +1,28 @@
+within Buildings.Controls.OBC.Utilities.PIDWithAutotuning;
+package Validation "Collection of models that validate the blocks for autotuning PID controllers"
+  annotation (
+    preferredView="info",
+    Documentation(
+      info="<html>
+<p>This package contains models that validate the blocks in <a href=\"modelica://Buildings.Controls.OBC.Utilities.PIDWIthAutotuning\">Buildings.Controls.OBC.Utilities.PIDWIthAutotuning</a>. </p>
+</html>"),
+    Icon(
+      graphics={
+        Rectangle(
+          lineColor={200,200,200},
+          fillColor={248,248,248},
+          fillPattern=FillPattern.HorizontalCylinder,
+          extent={{-100.0,-100.0},{100.0,100.0}},
+          radius=25.0),
+        Rectangle(
+          lineColor={128,128,128},
+          extent={{-100.0,-100.0},{100.0,100.0}},
+          radius=25.0),
+        Polygon(
+          origin={8.0,14.0},
+          lineColor={78,138,73},
+          fillColor={78,138,73},
+          pattern=LinePattern.None,
+          fillPattern=FillPattern.Solid,
+          points={{-58.0,46.0},{42.0,-14.0},{-58.0,-74.0},{-58.0,46.0}})}));
+end Validation;
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Validation/package.order b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Validation/package.order
new file mode 100644
index 00000000000..21a08e34ef7
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Validation/package.order
@@ -0,0 +1,4 @@
+DirectActingPIDWithFirstOrderAMIGO
+DirectActingPIWithFirstOrderAMIGO
+ReverseActingPIDWithFirstOrderAMIGO
+ReverseActingPIWithFirstOrderAMIGO
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/package.mo b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/package.mo
new file mode 100644
index 00000000000..7f85116bfbf
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/package.mo
@@ -0,0 +1,45 @@
+within Buildings.Controls.OBC.Utilities;
+package PIDWithAutotuning "Package with blocks for PID autotuning"
+  annotation (
+    preferredView="info",
+    Documentation(
+      info="<html>
+<p>This package contains blocks to perform automatic tuning of PID controllers.
+</p>
+</html>"),
+    Icon(
+      graphics={
+        Rectangle(
+          lineColor={200,200,200},
+          fillColor={248,248,248},
+          fillPattern=FillPattern.HorizontalCylinder,
+          extent={{-100.0,-100.0},{100.0,100.0}},
+          radius=25.0),
+        Rectangle(
+          lineColor={128,128,128},
+          extent={{-100.0,-100.0},{100.0,100.0}},
+          radius=25.0),
+        Ellipse(
+          origin={10.0,10.0},
+          fillColor={76,76,76},
+          pattern=LinePattern.None,
+          fillPattern=FillPattern.Solid,
+          extent={{-80.0,-80.0},{-20.0,-20.0}}),
+        Ellipse(
+          origin={10.0,10.0},
+          pattern=LinePattern.None,
+          fillPattern=FillPattern.Solid,
+          extent={{0.0,-80.0},{60.0,-20.0}}),
+        Ellipse(
+          origin={10.0,10.0},
+          fillColor={128,128,128},
+          pattern=LinePattern.None,
+          fillPattern=FillPattern.Solid,
+          extent={{0.0,0.0},{60.0,60.0}}),
+        Ellipse(
+          origin={10.0,10.0},
+          lineColor={128,128,128},
+          fillColor={255,255,255},
+          fillPattern=FillPattern.Solid,
+          extent={{-80.0,0.0},{-20.0,60.0}})}));
+end PIDWithAutotuning;
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/package.order b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/package.order
new file mode 100644
index 00000000000..6019a200cf9
--- /dev/null
+++ b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/package.order
@@ -0,0 +1,6 @@
+FirstOrderAMIGO
+AutoTuner
+Relay
+SystemIdentification
+Types
+Validation
diff --git a/Buildings/Controls/OBC/Utilities/package.order b/Buildings/Controls/OBC/Utilities/package.order
index b77eda14782..95ca58bb2a9 100644
--- a/Buildings/Controls/OBC/Utilities/package.order
+++ b/Buildings/Controls/OBC/Utilities/package.order
@@ -1,5 +1,6 @@
 OptimalStart
 PIDWithInputGains
+PIDWithAutotuning
 SetPoints
 Validation
 BaseClasses
diff --git a/Buildings/Fluid/HeatExchangers/Examples/WetCoilCounterFlowPControlAutoTuning.mo b/Buildings/Fluid/HeatExchangers/Examples/WetCoilCounterFlowPControlAutoTuning.mo
new file mode 100644
index 00000000000..5dacb4b39c4
--- /dev/null
+++ b/Buildings/Fluid/HeatExchangers/Examples/WetCoilCounterFlowPControlAutoTuning.mo
@@ -0,0 +1,219 @@
+within Buildings.Fluid.HeatExchangers.Examples;
+model WetCoilCounterFlowPControlAutoTuning
+  "Model that demonstrates the use of a heat exchanger with condensation and with autotuning feedback control"
+  extends Modelica.Icons.Example;
+  package Medium1 = Buildings.Media.Water;
+  package Medium2 = Buildings.Media.Air;
+  parameter Modelica.Units.SI.Temperature T_a1_nominal=5 + 273.15;
+  parameter Modelica.Units.SI.Temperature T_b1_nominal=10 + 273.15;
+  parameter Modelica.Units.SI.Temperature T_a2_nominal=30 + 273.15;
+  parameter Modelica.Units.SI.Temperature T_b2_nominal=15 + 273.15;
+  parameter Modelica.Units.SI.MassFlowRate m1_flow_nominal=0.1
+    "Nominal mass flow rate medium 1";
+  parameter Modelica.Units.SI.MassFlowRate m2_flow_nominal=0.2*m1_flow_nominal*4200
+      /1000*(T_a1_nominal - T_b1_nominal)/(T_b2_nominal - T_a2_nominal)
+    "Nominal mass flow rate medium 2";
+  Buildings.Fluid.Sources.Boundary_pT sin_2(
+    redeclare package Medium = Medium2,
+    nPorts=1,
+    use_p_in=false,
+    p(displayUnit="Pa") = 101325,
+    T=303.15)
+    annotation (Placement(transformation(extent={{-80,10},{-60,30}})));
+  Buildings.Fluid.Sources.Boundary_pT sou_2(
+    redeclare package Medium = Medium2,
+    nPorts=1,
+    T=T_a2_nominal,
+    X={0.02,1 - 0.02},
+    use_T_in=true,
+    use_X_in=true,
+    p(displayUnit="Pa") = 101325 + 300)
+    annotation (Placement(transformation(extent={{140,10},{120,30}})));
+  Buildings.Fluid.Sources.Boundary_pT sin_1(
+    redeclare package Medium = Medium1,
+    nPorts=1,
+    use_p_in=false,
+    p=300000,
+    T=293.15)
+    annotation (Placement(transformation(extent={{140,50},{120,70}})));
+  Buildings.Fluid.Sources.Boundary_pT sou_1(
+    redeclare package Medium = Medium1,
+    nPorts=1,
+    use_T_in=true,
+    p=300000 + 12000)
+    annotation (Placement(transformation(extent={{-40,50},{-20,70}})));
+  Buildings.Fluid.FixedResistances.PressureDrop res_2(
+    from_dp=true,
+    redeclare package Medium = Medium2,
+    dp_nominal=100,
+    m_flow_nominal=m2_flow_nominal)
+    annotation (Placement(transformation(extent={{-20,10},{-40,30}})));
+  Buildings.Fluid.FixedResistances.PressureDrop res_1(
+    from_dp=true,
+    redeclare package Medium = Medium1,
+    dp_nominal=3000,
+    m_flow_nominal=m1_flow_nominal)
+    annotation (Placement(transformation(extent={{90,50},{110,70}})));
+  Buildings.Fluid.Sensors.TemperatureTwoPort temSen(
+    redeclare package Medium =Medium2,
+    m_flow_nominal=m2_flow_nominal)
+    annotation (Placement(transformation(extent={{20,10},{0,30}})));
+  Buildings.Fluid.Actuators.Valves.TwoWayEqualPercentage val(
+    redeclare package Medium = Medium1,
+    m_flow_nominal=m1_flow_nominal,
+    dpValve_nominal=6000)
+    "Valve model"
+    annotation (Placement(transformation(extent={{30,50},{50,70}})));
+  Modelica.Blocks.Sources.TimeTable TSet(
+    table=[0,288.15; 600,288.15; 600,298.15; 1200,298.15;
+           1800,283.15; 2400,283.15; 2400,288.15])
+    "Setpoint temperature"
+    annotation (Placement(transformation(extent={{-80,90},{-60,110}})));
+  Buildings.Fluid.HeatExchangers.WetCoilCounterFlow hex(
+    redeclare package Medium1 = Medium1,
+    redeclare package Medium2 = Medium2,
+    m1_flow_nominal=m1_flow_nominal,
+    m2_flow_nominal=m2_flow_nominal,
+    dp2_nominal(displayUnit="Pa") = 200,
+    allowFlowReversal1=true,
+    allowFlowReversal2=true,
+    dp1_nominal(displayUnit="Pa") = 3000,
+    UA_nominal=2*m1_flow_nominal*4200*(T_a1_nominal - T_b1_nominal)/
+      Buildings.Fluid.HeatExchangers.BaseClasses.lmtd(
+        T_a1_nominal,
+        T_b1_nominal,
+        T_a2_nominal,
+        T_b2_nominal),
+    show_T=true,
+    energyDynamics=Modelica.Fluid.Types.Dynamics.FixedInitial)
+    annotation (Placement(transformation(extent={{60,16},{80,36}})));
+  Modelica.Blocks.Sources.Constant const(k=0.8)
+    annotation (Placement(transformation(extent={{100,-70},{120,-50}})));
+  Buildings.Utilities.Psychrometrics.X_pTphi x_pTphi(use_p_in=false)
+    annotation (Placement(transformation(extent={{150,-42},{170,-22}})));
+  Modelica.Blocks.Sources.Constant const1(k=T_a2_nominal)
+    annotation (Placement(transformation(extent={{100,-38},{120,-18}})));
+  Buildings.Controls.OBC.Utilities.PIDWithAutotuning.FirstOrderAMIGO
+    con(controllerType=Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Types.SimpleController.PI,
+    u_s_start=288.15,
+    r=10,
+    yLow=0.2,
+    deaBan=0.2,
+    yRef=0.5,
+    reverseActing=false)
+    "Controller"
+    annotation (Placement(transformation(extent={{0,90},{20,110}})));
+  Modelica.Blocks.Sources.Ramp TWat(
+    height=5,
+    offset=T_a1_nominal,
+    startTime=300,
+    duration=2000) "Water temperature, raised to a high value at t=3000 s"
+    annotation (Placement(transformation(extent={{-80,54},{-60,74}})));
+  Buildings.Controls.OBC.CDL.Logical.Sources.Constant resSig(k=false)
+    "Reset signal"
+    annotation (Placement(transformation(extent={{-80,160},{-60,180}})));
+  Buildings.Controls.OBC.CDL.Logical.Sources.Pulse autTunSig(
+    width=0.2,
+    period=2000,
+    shift=100)
+    "Signal for enabling the autotuning"
+    annotation (Placement(transformation(extent={{20,160},{40,180}})));
+equation
+  connect(hex.port_b1, res_1.port_a) annotation (Line(points={{80,32},{86,32},{
+          86,60},{90,60}}, color={0,127,255}));
+  connect(val.port_b, hex.port_a1) annotation (Line(points={{50,60},{52,60},{52,
+          32},{60,32}}, color={0,127,255}));
+  connect(sou_1.ports[1], val.port_a) annotation (Line(
+      points={{-20,60},{30,60}},
+      color={0,127,255},
+      smooth=Smooth.None));
+  connect(sin_1.ports[1], res_1.port_b) annotation (Line(
+      points={{120,60},{110,60}},
+      color={0,127,255},
+      smooth=Smooth.None));
+  connect(sin_2.ports[1], res_2.port_b) annotation (Line(
+      points={{-60,20},{-40,20}},
+      color={0,127,255},
+      smooth=Smooth.None));
+  connect(sou_2.ports[1], hex.port_a2) annotation (Line(
+      points={{120,20},{80,20}},
+      color={0,127,255},
+      smooth=Smooth.None));
+  connect(hex.port_b2, temSen.port_a) annotation (Line(
+      points={{60,20},{20,20}},
+      color={0,127,255},
+      smooth=Smooth.None));
+  connect(temSen.port_b, res_2.port_a) annotation (Line(
+      points={{-5.55112e-16,20},{-20,20}},
+      color={0,127,255},
+      smooth=Smooth.None));
+  connect(x_pTphi.X, sou_2.X_in) annotation (Line(
+      points={{171,-32},{178,-32},{178,-34},{186,-34},{186,16},{142,16}},
+      color={0,0,127},
+      smooth=Smooth.None));
+  connect(const.y, x_pTphi.phi) annotation (Line(
+      points={{121,-60},{136,-60},{136,-38},{148,-38}},
+      color={0,0,127},
+      smooth=Smooth.None));
+  connect(const1.y, x_pTphi.T) annotation (Line(
+      points={{121,-28},{134,-28},{134,-32},{148,-32}},
+      color={0,0,127},
+      smooth=Smooth.None));
+  connect(const1.y, sou_2.T_in) annotation (Line(
+      points={{121,-28},{134,-28},{134,0},{160,0},{160,24},{142,24}},
+      color={0,0,127},
+      smooth=Smooth.None));
+  connect(TWat.y, sou_1.T_in) annotation (Line(
+      points={{-59,64},{-42,64}},
+      color={0,0,127},
+      smooth=Smooth.None));
+  connect(con.y, val.y) annotation (Line(
+      points={{22,100},{40,100},{40,72}},
+      color={0,0,127},
+      smooth=Smooth.None));
+  connect(resSig.y, con.triRes) annotation (Line(points={{-58,170},{-20,170},{-20,
+          80},{4,80},{4,88}}, color={255,0,255}));
+  connect(autTunSig.y, con.triTun) annotation (Line(points={{42,170},{74,170},{74,
+          80},{16,80},{16,88}}, color={255,0,255}));
+  connect(TSet.y, con.u_s)
+    annotation (Line(points={{-59,100},{-2,100}}, color={0,0,127}));
+  connect(temSen.T, con.u_m)
+    annotation (Line(points={{10,31},{10,88}}, color={0,0,127}));
+  annotation (Diagram(coordinateSystem(preserveAspectRatio=true, extent={{-100,
+            -100},{200,200}})),
+experiment(Tolerance=1e-6, StopTime=3600),
+__Dymola_Commands(file="modelica://Buildings/Resources/Scripts/Dymola/Fluid/HeatExchangers/Examples/WetCoilCounterFlowPControlAutoTuning.mos"
+        "Simulate and plot"),
+Documentation(info="<html>
+<p>
+This example is identical to 
+<a href=\"modelica://Buildings.Fluid.HeatExchangers.Examples.WetCoilCounterFlowPControl\">
+Buildings.Fluid.HeatExchangers.Examples.WetCoilCounterFlowPControl</a> except that the PI controller
+is replaced by an autotuning PI controller.
+</p>
+The autotuning is triggered twice.
+<ul>
+<li>
+The first one occurs at <i>100</i> seconds and it completes successfully.
+The tuned PI parameters are put into effect at <i>215</i> seconds.
+</li>
+<li>
+The second one occurs at <i>2100</i> seconds and it fails because the setpoint
+changes at <i>2400</i> seconds.
+The PI parameters are kept unchanged.
+</li>
+</ul>
+</html>",
+revisions="<html>
+<ul>
+<li>
+March 8, 2024, by Michael Wetter:<br/>
+Removed wrong normalization.
+</li>
+<li>
+November 28, 2023, by Sen Huang:<br/>
+Replaced the PI controller with an autotuning PI controller.
+</li>
+</ul>
+</html>"));
+end WetCoilCounterFlowPControlAutoTuning;
diff --git a/Buildings/Fluid/HeatExchangers/Examples/package.order b/Buildings/Fluid/HeatExchangers/Examples/package.order
index 2ad9a3f6d95..064e542d431 100644
--- a/Buildings/Fluid/HeatExchangers/Examples/package.order
+++ b/Buildings/Fluid/HeatExchangers/Examples/package.order
@@ -12,6 +12,7 @@ WaterHeater_T
 WaterHeater_u
 WetCoilCounterFlowMassFlow
 WetCoilCounterFlowPControl
+WetCoilCounterFlowPControlAutoTuning
 WetCoilDiscretizedMassFlow
 WetCoilDiscretizedPControl
 WetCoilEffectivenessNTUMassFlow
diff --git a/Buildings/Resources/Images/Controls/OBC/Utilities/PIDWithAutotuning/Relay/BaseClasses/OnOff.png b/Buildings/Resources/Images/Controls/OBC/Utilities/PIDWithAutotuning/Relay/BaseClasses/OnOff.png
new file mode 100644
index 00000000000..9076999be0f
Binary files /dev/null and b/Buildings/Resources/Images/Controls/OBC/Utilities/PIDWithAutotuning/Relay/BaseClasses/OnOff.png differ
diff --git a/Buildings/Resources/Images/Controls/OBC/Utilities/PIDWithAutotuning/Relay/BaseClasses/OnOff.svg b/Buildings/Resources/Images/Controls/OBC/Utilities/PIDWithAutotuning/Relay/BaseClasses/OnOff.svg
new file mode 100644
index 00000000000..677392e9229
--- /dev/null
+++ b/Buildings/Resources/Images/Controls/OBC/Utilities/PIDWithAutotuning/Relay/BaseClasses/OnOff.svg
@@ -0,0 +1,472 @@
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+   xmlns:svg="http://www.w3.org/2000/svg"
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diff --git a/Buildings/Resources/ReferenceResults/Dymola/Buildings_Controls_OBC_Utilities_PIDWithAutotuning_AutoTuner_AMIGO_BaseClasses_Validation_PIDDerivativeTime.txt b/Buildings/Resources/ReferenceResults/Dymola/Buildings_Controls_OBC_Utilities_PIDWithAutotuning_AutoTuner_AMIGO_BaseClasses_Validation_PIDDerivativeTime.txt
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index 00000000000..da5b9d61cd2
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diff --git a/Buildings/Resources/ReferenceResults/Dymola/Buildings_Controls_OBC_Utilities_PIDWithAutotuning_AutoTuner_AMIGO_BaseClasses_Validation_PIDGain.txt b/Buildings/Resources/ReferenceResults/Dymola/Buildings_Controls_OBC_Utilities_PIDWithAutotuning_AutoTuner_AMIGO_BaseClasses_Validation_PIDGain.txt
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index 00000000000..2b795ccb8c3
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+++ b/Buildings/Resources/ReferenceResults/Dymola/Buildings_Controls_OBC_Utilities_PIDWithAutotuning_AutoTuner_AMIGO_BaseClasses_Validation_PIDGain.txt
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diff --git a/Buildings/Resources/ReferenceResults/Dymola/Buildings_Controls_OBC_Utilities_PIDWithAutotuning_AutoTuner_AMIGO_BaseClasses_Validation_PIDIntegralTime.txt b/Buildings/Resources/ReferenceResults/Dymola/Buildings_Controls_OBC_Utilities_PIDWithAutotuning_AutoTuner_AMIGO_BaseClasses_Validation_PIDIntegralTime.txt
new file mode 100644
index 00000000000..32817a30907
--- /dev/null
+++ b/Buildings/Resources/ReferenceResults/Dymola/Buildings_Controls_OBC_Utilities_PIDWithAutotuning_AutoTuner_AMIGO_BaseClasses_Validation_PIDIntegralTime.txt
@@ -0,0 +1,11 @@
+last-generated=2023-06-19
+statistics-simulation=
+{
+  "linear": " ",
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+  "numerical Jacobians": "0"
+}
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diff --git a/Buildings/Resources/ReferenceResults/Dymola/Buildings_Controls_OBC_Utilities_PIDWithAutotuning_AutoTuner_AMIGO_BaseClasses_Validation_PIGain.txt b/Buildings/Resources/ReferenceResults/Dymola/Buildings_Controls_OBC_Utilities_PIDWithAutotuning_AutoTuner_AMIGO_BaseClasses_Validation_PIGain.txt
new file mode 100644
index 00000000000..fd440ab8427
--- /dev/null
+++ b/Buildings/Resources/ReferenceResults/Dymola/Buildings_Controls_OBC_Utilities_PIDWithAutotuning_AutoTuner_AMIGO_BaseClasses_Validation_PIGain.txt
@@ -0,0 +1,12 @@
+last-generated=2023-06-19
+statistics-simulation=
+{
+  "linear": " ",
+  "nonlinear": " ",
+  "numerical Jacobians": "0"
+}
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diff --git a/Buildings/Resources/ReferenceResults/Dymola/Buildings_Controls_OBC_Utilities_PIDWithAutotuning_AutoTuner_AMIGO_BaseClasses_Validation_PIIntegralTime.txt b/Buildings/Resources/ReferenceResults/Dymola/Buildings_Controls_OBC_Utilities_PIDWithAutotuning_AutoTuner_AMIGO_BaseClasses_Validation_PIIntegralTime.txt
new file mode 100644
index 00000000000..6b3f07895a7
--- /dev/null
+++ b/Buildings/Resources/ReferenceResults/Dymola/Buildings_Controls_OBC_Utilities_PIDWithAutotuning_AutoTuner_AMIGO_BaseClasses_Validation_PIIntegralTime.txt
@@ -0,0 +1,11 @@
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diff --git a/Buildings/Resources/ReferenceResults/Dymola/Buildings_Controls_OBC_Utilities_PIDWithAutotuning_AutoTuner_AMIGO_Validation_PI.txt b/Buildings/Resources/ReferenceResults/Dymola/Buildings_Controls_OBC_Utilities_PIDWithAutotuning_AutoTuner_AMIGO_Validation_PI.txt
new file mode 100644
index 00000000000..123474d3809
--- /dev/null
+++ b/Buildings/Resources/ReferenceResults/Dymola/Buildings_Controls_OBC_Utilities_PIDWithAutotuning_AutoTuner_AMIGO_Validation_PI.txt
@@ -0,0 +1,13 @@
+last-generated=2023-06-19
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+{
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+  "numerical Jacobians": "0"
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diff --git a/Buildings/Resources/ReferenceResults/Dymola/Buildings_Controls_OBC_Utilities_PIDWithAutotuning_AutoTuner_AMIGO_Validation_PID.txt b/Buildings/Resources/ReferenceResults/Dymola/Buildings_Controls_OBC_Utilities_PIDWithAutotuning_AutoTuner_AMIGO_Validation_PID.txt
new file mode 100644
index 00000000000..5af65cb83f9
--- /dev/null
+++ b/Buildings/Resources/ReferenceResults/Dymola/Buildings_Controls_OBC_Utilities_PIDWithAutotuning_AutoTuner_AMIGO_Validation_PID.txt
@@ -0,0 +1,14 @@
+last-generated=2023-06-19
+statistics-simulation=
+{
+  "linear": " ",
+  "nonlinear": " ",
+  "numerical Jacobians": "0"
+}
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diff --git a/Buildings/Resources/ReferenceResults/Dymola/Buildings_Controls_OBC_Utilities_PIDWithAutotuning_Relay_BaseClasses_Validation_HalfPeriodRatio.txt b/Buildings/Resources/ReferenceResults/Dymola/Buildings_Controls_OBC_Utilities_PIDWithAutotuning_Relay_BaseClasses_Validation_HalfPeriodRatio.txt
new file mode 100644
index 00000000000..dc37037cfa3
--- /dev/null
+++ b/Buildings/Resources/ReferenceResults/Dymola/Buildings_Controls_OBC_Utilities_PIDWithAutotuning_Relay_BaseClasses_Validation_HalfPeriodRatio.txt
@@ -0,0 +1,13 @@
+last-generated=2023-07-22
+statistics-simulation=
+{
+  "linear": " ",
+  "nonlinear": " ",
+  "numerical Jacobians": "0"
+}
+time=[0e+00, 1e+00]
+tOn.y=[0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000011935628514e-01, 2.000000029802322e-01, 2.000000029802322e-01, 2.000000029802322e-01, 2.000000029802322e-01, 2.000000029802322e-01, 2.000000029802322e-01, 2.000000029802322e-01, 2.000000029802322e-01, 2.000000029802322e-01, 2.000000029802322e-01]
+tOff.y=[0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 2.980181779987214e-06, 5e-01, 5e-01, 5e-01, 5e-01, 5e-01, 5e-01, 5e-01, 5e-01, 5e-01, 5e-01, 5e-01, 5e-01, 5e-01, 5e-01, 5e-01, 5e-01, 5e-01, 5e-01, 5e-01, 5e-01, 5e-01, 5e-01, 5e-01, 5e-01, 5e-01, 5e-01, 5e-01, 5e-01, 5e-01, 5e-01]
+halPerRat.triSta=[0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00]
+halPerRat.triEnd=[0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 1.192072717545907e-05, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00]
+halPerRat.rho=[1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1.000017881090763e+00, 2.5e+00, 2.5e+00, 2.5e+00, 2.5e+00, 2.5e+00, 2.5e+00, 2.5e+00, 2.5e+00, 2.5e+00, 2.5e+00]
diff --git a/Buildings/Resources/ReferenceResults/Dymola/Buildings_Controls_OBC_Utilities_PIDWithAutotuning_Relay_BaseClasses_Validation_NormalizedTimeDelay.txt b/Buildings/Resources/ReferenceResults/Dymola/Buildings_Controls_OBC_Utilities_PIDWithAutotuning_Relay_BaseClasses_Validation_NormalizedTimeDelay.txt
new file mode 100644
index 00000000000..a89aab746ea
--- /dev/null
+++ b/Buildings/Resources/ReferenceResults/Dymola/Buildings_Controls_OBC_Utilities_PIDWithAutotuning_Relay_BaseClasses_Validation_NormalizedTimeDelay.txt
@@ -0,0 +1,10 @@
+last-generated=2023-06-19
+statistics-simulation=
+{
+  "linear": " ",
+  "nonlinear": " ",
+  "numerical Jacobians": "0"
+}
+time=[0e+00, 1e+00]
+rho.y=[2e+00, 2e+00, 2e+00, 2e+00, 2e+00, 2e+00, 2e+00, 2e+00, 2e+00, 2e+00, 2e+00, 2e+00, 2e+00, 2e+00, 2e+00, 2e+00, 2e+00, 2e+00, 2e+00, 2e+00, 2e+00, 2e+00, 2e+00, 2e+00, 2e+00, 2e+00, 2e+00, 2e+00, 2e+00, 2e+00, 2e+00, 2e+00, 2e+00, 2e+00, 2e+00, 2e+00, 2e+00, 2e+00, 2e+00, 2e+00, 2e+00, 2e+00, 2e+00, 2e+00, 2e+00, 2e+00, 2e+00, 2e+00, 2e+00, 2e+00, 2e+00, 2e+00, 2e+00, 2e+00, 2e+00, 2e+00, 2e+00, 2e+00, 2e+00, 2e+00, 2e+00, 2e+00, 2e+00, 2e+00, 2e+00, 2e+00, 2e+00, 2e+00, 2e+00, 2e+00, 1.99999403963644e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00]
+norTimDel.tau=[3.703703582286835e-01, 3.703703582286835e-01, 3.703703582286835e-01, 3.703703582286835e-01, 3.703703582286835e-01, 3.703703582286835e-01, 3.703703582286835e-01, 3.703703582286835e-01, 3.703703582286835e-01, 3.703703582286835e-01, 3.703703582286835e-01, 3.703703582286835e-01, 3.703703582286835e-01, 3.703703582286835e-01, 3.703703582286835e-01, 3.703703582286835e-01, 3.703703582286835e-01, 3.703703582286835e-01, 3.703703582286835e-01, 3.703703582286835e-01, 3.703703582286835e-01, 3.703703582286835e-01, 3.703703582286835e-01, 3.703703582286835e-01, 3.703703582286835e-01, 3.703703582286835e-01, 3.703703582286835e-01, 3.703703582286835e-01, 3.703703582286835e-01, 3.703703582286835e-01, 3.703703582286835e-01, 3.703703582286835e-01, 3.703703582286835e-01, 3.703703582286835e-01, 3.703703582286835e-01, 3.703703582286835e-01, 3.703703582286835e-01, 3.703703582286835e-01, 3.703703582286835e-01, 3.703703582286835e-01, 3.703703582286835e-01, 3.703703582286835e-01, 3.703703582286835e-01, 3.703703582286835e-01, 3.703703582286835e-01, 3.703703582286835e-01, 3.703703582286835e-01, 3.703703582286835e-01, 3.703703582286835e-01, 3.703703582286835e-01, 3.703703582286835e-01, 3.703703582286835e-01, 3.703703582286835e-01, 3.703703582286835e-01, 3.703703582286835e-01, 3.703703582286835e-01, 3.703703582286835e-01, 3.703703582286835e-01, 3.703703582286835e-01, 3.703703582286835e-01, 3.703703582286835e-01, 3.703703582286835e-01, 3.703703582286835e-01, 3.703703582286835e-01, 3.703703582286835e-01, 3.703703582286835e-01, 3.703703582286835e-01, 3.703703582286835e-01, 3.703703582286835e-01, 3.703703582286835e-01, 3.703741110502566e-01, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00]
diff --git a/Buildings/Resources/ReferenceResults/Dymola/Buildings_Controls_OBC_Utilities_PIDWithAutotuning_Relay_BaseClasses_Validation_OnOffPeriod.txt b/Buildings/Resources/ReferenceResults/Dymola/Buildings_Controls_OBC_Utilities_PIDWithAutotuning_Relay_BaseClasses_Validation_OnOffPeriod.txt
new file mode 100644
index 00000000000..2d90c999a6a
--- /dev/null
+++ b/Buildings/Resources/ReferenceResults/Dymola/Buildings_Controls_OBC_Utilities_PIDWithAutotuning_Relay_BaseClasses_Validation_OnOffPeriod.txt
@@ -0,0 +1,12 @@
+last-generated=2023-09-19
+statistics-simulation=
+{
+  "linear": " ",
+  "nonlinear": " ",
+  "numerical Jacobians": "0"
+}
+time=[0e+00, 1e+00]
+relSwi.y=[1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 9.999993294478573e-01, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 5.960363559974428e-06, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00]
+retSig.y=[0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 1.192072717545907e-05, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00]
+onOffPer.tOn=[0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 4.023312766277112e-08, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 1.599999964237213e-01, 1.599999964237213e-01, 1.599999964237213e-01, 1.599980891074159e-01, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00]
+onOffPer.tOff=[0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 3.81463259311995e-06, 6.399999856948853e-01, 6.399999856948853e-01, 6.399999856948853e-01, 6.399999856948853e-01, 6.399999856948853e-01, 6.399999856948853e-01, 6.399999856948853e-01, 6.399999856948853e-01, 6.399999856948853e-01, 6.399999856948853e-01, 6.399999856948853e-01, 6.399999856948853e-01, 6.399999856948853e-01, 6.399999856948853e-01, 6.399999856948853e-01, 6.399999856948853e-01, 6.399999856948853e-01, 6.399999856948853e-01, 6.399999856948853e-01, 6.399923564296635e-01, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00]
diff --git a/Buildings/Resources/ReferenceResults/Dymola/Buildings_Controls_OBC_Utilities_PIDWithAutotuning_Relay_BaseClasses_Validation_SamplerWithResetThreshold.txt b/Buildings/Resources/ReferenceResults/Dymola/Buildings_Controls_OBC_Utilities_PIDWithAutotuning_Relay_BaseClasses_Validation_SamplerWithResetThreshold.txt
new file mode 100644
index 00000000000..8aca2fd0a2c
--- /dev/null
+++ b/Buildings/Resources/ReferenceResults/Dymola/Buildings_Controls_OBC_Utilities_PIDWithAutotuning_Relay_BaseClasses_Validation_SamplerWithResetThreshold.txt
@@ -0,0 +1,11 @@
+last-generated=2023-09-19
+statistics-simulation=
+{
+  "linear": " ",
+  "nonlinear": " ",
+  "numerical Jacobians": "0"
+}
+time=[0e+00, 1e+00]
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diff --git a/Buildings/Resources/ReferenceResults/Dymola/Buildings_Controls_OBC_Utilities_PIDWithAutotuning_Relay_BaseClasses_Validation_TuningMonitor.txt b/Buildings/Resources/ReferenceResults/Dymola/Buildings_Controls_OBC_Utilities_PIDWithAutotuning_Relay_BaseClasses_Validation_TuningMonitor.txt
new file mode 100644
index 00000000000..b11dfade752
--- /dev/null
+++ b/Buildings/Resources/ReferenceResults/Dymola/Buildings_Controls_OBC_Utilities_PIDWithAutotuning_Relay_BaseClasses_Validation_TuningMonitor.txt
@@ -0,0 +1,12 @@
+last-generated=2023-09-19
+statistics-simulation=
+{
+  "linear": " ",
+  "nonlinear": " ",
+  "numerical Jacobians": "0"
+}
+time=[0e+00, 1e+00]
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diff --git a/Buildings/Resources/ReferenceResults/Dymola/Buildings_Controls_OBC_Utilities_PIDWithAutotuning_Relay_Validation_Controller.txt b/Buildings/Resources/ReferenceResults/Dymola/Buildings_Controls_OBC_Utilities_PIDWithAutotuning_Relay_Validation_Controller.txt
new file mode 100644
index 00000000000..61319bae5a2
--- /dev/null
+++ b/Buildings/Resources/ReferenceResults/Dymola/Buildings_Controls_OBC_Utilities_PIDWithAutotuning_Relay_Validation_Controller.txt
@@ -0,0 +1,13 @@
+last-generated=2023-12-27
+statistics-simulation=
+{
+  "linear": " ",
+  "nonlinear": " ",
+  "numerical Jacobians": "0"
+}
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+relCon.yOn=[1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00]
diff --git a/Buildings/Resources/ReferenceResults/Dymola/Buildings_Controls_OBC_Utilities_PIDWithAutotuning_Relay_Validation_ResponseProcess.txt b/Buildings/Resources/ReferenceResults/Dymola/Buildings_Controls_OBC_Utilities_PIDWithAutotuning_Relay_Validation_ResponseProcess.txt
new file mode 100644
index 00000000000..8a13b588b61
--- /dev/null
+++ b/Buildings/Resources/ReferenceResults/Dymola/Buildings_Controls_OBC_Utilities_PIDWithAutotuning_Relay_Validation_ResponseProcess.txt
@@ -0,0 +1,15 @@
+last-generated=2023-09-19
+statistics-simulation=
+{
+  "linear": " ",
+  "nonlinear": " ",
+  "numerical Jacobians": "0"
+}
+time=[0e+00, 1e+00]
+relSwi.y=[1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 9.999993294478573e-01, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 5.960363559974428e-06, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00]
+resPro.tOn=[0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 4.023312766277112e-08, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 5.999999865889549e-02, 1.599999964237213e-01, 1.599999964237213e-01, 1.599999964237213e-01, 1.599980891074159e-01, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00]
+resPro.tOff=[0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 3.81463259311995e-06, 6.399999856948853e-01, 6.399999856948853e-01, 6.399999856948853e-01, 6.399999856948853e-01, 6.399999856948853e-01, 6.399999856948853e-01, 6.399999856948853e-01, 6.399999856948853e-01, 6.399999856948853e-01, 6.399999856948853e-01, 6.399999856948853e-01, 6.399999856948853e-01, 6.399999856948853e-01, 6.399999856948853e-01, 6.399999856948853e-01, 6.399999856948853e-01, 6.399999856948853e-01, 6.399999856948853e-01, 6.399999856948853e-01, 6.399923564296635e-01, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00]
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+tunEnd.y=[0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00]
+resSig.y=[0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 1.192072717545907e-05, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00]
+resPro.tau=[1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1.219512224197388e-01, 1.219512224197388e-01, 1.219512224197388e-01, 1.219512224197388e-01, 1.219512224197388e-01, 1.219512224197388e-01, 1.219512224197388e-01, 1.219512224197388e-01, 1.219512224197388e-01, 1.219512224197388e-01, 1.219512224197388e-01, 1.219512224197388e-01, 1.219512224197388e-01, 1.219512224197388e-01]
diff --git a/Buildings/Resources/ReferenceResults/Dymola/Buildings_Controls_OBC_Utilities_PIDWithAutotuning_SystemIdentification_FirstOrderTimedelayed_BaseClasses_Validation_Gain.txt b/Buildings/Resources/ReferenceResults/Dymola/Buildings_Controls_OBC_Utilities_PIDWithAutotuning_SystemIdentification_FirstOrderTimedelayed_BaseClasses_Validation_Gain.txt
new file mode 100644
index 00000000000..e7340fd1ce5
--- /dev/null
+++ b/Buildings/Resources/ReferenceResults/Dymola/Buildings_Controls_OBC_Utilities_PIDWithAutotuning_SystemIdentification_FirstOrderTimedelayed_BaseClasses_Validation_Gain.txt
@@ -0,0 +1,14 @@
+last-generated=2023-09-19
+statistics-simulation=
+{
+  "linear": " ",
+  "nonlinear": " ",
+  "number of continuous time states": "1",
+  "numerical Jacobians": "0"
+}
+time=[0e+00, 1e+00]
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diff --git a/Buildings/Resources/ReferenceResults/Dymola/Buildings_Controls_OBC_Utilities_PIDWithAutotuning_SystemIdentification_FirstOrderTimedelayed_BaseClasses_Validation_TimeConstantDelay.txt b/Buildings/Resources/ReferenceResults/Dymola/Buildings_Controls_OBC_Utilities_PIDWithAutotuning_SystemIdentification_FirstOrderTimedelayed_BaseClasses_Validation_TimeConstantDelay.txt
new file mode 100644
index 00000000000..6d60d163be4
--- /dev/null
+++ b/Buildings/Resources/ReferenceResults/Dymola/Buildings_Controls_OBC_Utilities_PIDWithAutotuning_SystemIdentification_FirstOrderTimedelayed_BaseClasses_Validation_TimeConstantDelay.txt
@@ -0,0 +1,13 @@
+last-generated=2024-04-03
+statistics-simulation=
+{
+  "linear": " ",
+  "nonlinear": " ",
+  "numerical Jacobians": "0"
+}
+time=[0e+00, 1e+00]
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diff --git a/Buildings/Resources/ReferenceResults/Dymola/Buildings_Controls_OBC_Utilities_PIDWithAutotuning_SystemIdentification_FirstOrderTimedelayed_Validation_ControlProcessModel.txt b/Buildings/Resources/ReferenceResults/Dymola/Buildings_Controls_OBC_Utilities_PIDWithAutotuning_SystemIdentification_FirstOrderTimedelayed_Validation_ControlProcessModel.txt
new file mode 100644
index 00000000000..2a819467dfe
--- /dev/null
+++ b/Buildings/Resources/ReferenceResults/Dymola/Buildings_Controls_OBC_Utilities_PIDWithAutotuning_SystemIdentification_FirstOrderTimedelayed_Validation_ControlProcessModel.txt
@@ -0,0 +1,18 @@
+last-generated=2023-09-19
+statistics-simulation=
+{
+  "linear": " ",
+  "nonlinear": " ",
+  "number of continuous time states": "1",
+  "numerical Jacobians": "0"
+}
+time=[0e+00, 1e+00]
+tunSta.y=[0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00]
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+tOn.y=[0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01]
+tOff.y=[0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 6.99999988079071e-01, 6.99999988079071e-01, 6.99999988079071e-01, 6.99999988079071e-01, 6.99999988079071e-01, 6.99999988079071e-01, 6.99999988079071e-01, 6.99999988079071e-01, 6.99999988079071e-01, 6.99999988079071e-01, 6.99999988079071e-01, 6.99999988079071e-01, 6.99999988079071e-01, 6.99999988079071e-01, 6.99999988079071e-01, 6.99999988079071e-01, 6.99999988079071e-01, 6.99999988079071e-01, 6.99999988079071e-01, 6.99999988079071e-01]
+conProMod.k=[1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1.000161122092163e+00, 1.451612949371338e+01, 1.451612949371338e+01, 1.451612949371338e+01, 1.451612949371338e+01, 1.451612949371338e+01, 1.451612949371338e+01, 1.451612949371338e+01, 1.451612949371338e+01, 1.451612949371338e+01, 1.451612949371338e+01]
+conProMod.T=[1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 9.999906239893537e-01, 2.134699076414108e-01, 2.134699076414108e-01, 2.134699076414108e-01, 2.134699076414108e-01, 2.134699076414108e-01, 2.134699076414108e-01, 2.134699076414108e-01, 2.134699076414108e-01, 2.134699076414108e-01, 2.134699076414108e-01]
+conProMod.L=[1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 9.9998916986561e-01, 9.14871022105217e-02, 9.14871022105217e-02, 9.14871022105217e-02, 9.14871022105217e-02, 9.14871022105217e-02, 9.14871022105217e-02, 9.14871022105217e-02, 9.14871022105217e-02, 9.14871022105217e-02, 9.14871022105217e-02]
diff --git a/Buildings/Resources/ReferenceResults/Dymola/Buildings_Controls_OBC_Utilities_PIDWithAutotuning_Validation_DirectActingPIDWithFirstOrderAMIGO.txt b/Buildings/Resources/ReferenceResults/Dymola/Buildings_Controls_OBC_Utilities_PIDWithAutotuning_Validation_DirectActingPIDWithFirstOrderAMIGO.txt
new file mode 100644
index 00000000000..cb13bf11ce6
--- /dev/null
+++ b/Buildings/Resources/ReferenceResults/Dymola/Buildings_Controls_OBC_Utilities_PIDWithAutotuning_Validation_DirectActingPIDWithFirstOrderAMIGO.txt
@@ -0,0 +1,19 @@
+last-generated=2024-08-22
+statistics-simulation=
+{
+  "linear": " ",
+  "nonlinear": " ",
+  "number of continuous time states": "7",
+  "numerical Jacobians": "0"
+}
+time=[0e+00, 1e+04]
+PID.u_s=[8.00000011920929e-01, 8.00000011920929e-01]
+PID.u_m=[0e+00, 0e+00, 0e+00, 9.975230097770691e-01, 1.000001430511475e+00, 1.00000011920929e+00, 9.999999403953552e-01, 9.999999403953552e-01, 3.362038696650416e-04, 1.865401202394423e-07, -5.939579139635498e-08, -3.086786382056061e-09, -6.20002216233928e-10, 9.999517202377319e-01, 1.000000357627869e+00, 9.999998807907104e-01, 1e+00, 1.353342980146395e-01, 8.504475772497244e-06, -2.010213165704045e-06, -1.235133506582997e-08, -1.497455381915813e-09, 9.816837310791016e-01, 1.000001668930054e+00, 1e+00, 1e+00, 1e+00, 2.482960000634193e-03, -4.273533704689839e-08, -7.113067912456472e-09, 2.790749673454301e-13, 1.816809269488632e-14, 9.99662458896637e-01, 1.000002026557922e+00, 1e+00, 1e+00, 1e+00, 4.641986743081361e-05, 3.360557059295388e-07, -2.849534774806983e-10, 8.996846670439318e-12, 8.646643757820129e-01, 9.999930262565613e-01, 1.00000011920929e+00, 1e+00, 1e+00, 1.8318897113204e-02, 1.372197971249989e-06, 6.350948069666629e-07, -1.373463842657685e-10, 2.533562986142823e-12, 9.975267648696899e-01, 9.999994039535522e-01, 1e+00, 1e+00, 1e+00, 3.373860381543504e-04, 1.411928529650888e-08, -5.540917724644601e-10, 2.926642652181788e-12, 1.352174801164466e-13, 9.999566674232483e-01, 9.999994039535522e-01, 1e+00, 1e+00, 1.353347152471542e-01, 5.527692337636836e-06, 2.476246265814552e-07, 7.445288136009659e-11, -5.025821338961129e-12, 9.816855192184448e-01, 9.999953508377075e-01, 9.999999403953552e-01, 1e+00, 1e+00, 2.47946591116488e-03, 1.334632884208986e-07, -3.386831926022182e-10, -1.335369965646538e-12, 9.660670167275392e-16, 9.996646046638489e-01, 1.00000011920929e+00, 1e+00, 1e+00, 1e+00, 4.616479418473318e-05, 2.417221594441799e-06, -3.604661458211922e-09, 3.443732105035124e-11, 8.646661043167114e-01, 9.999990463256836e-01, 9.999999403953552e-01, 1e+00, 1e+00, 1.831533759832382e-02, 1.862722569967445e-06, 1.369343408441637e-06, 2.297314075083712e-11, 7.676904945075336e-11, 9.975242018699646e-01, 9.999977350234985e-01]
+PIDWitTun.u_s=[8.00000011920929e-01, 8.00000011920929e-01]
+PIDWitTun.u_m=[0e+00, 0e+00, 0e+00, 9.975230097770691e-01, 1.000001430511475e+00, 1.00000011920929e+00, 9.999999403953552e-01, 9.999999403953552e-01, 3.362038696650416e-04, 1.865401202394423e-07, -5.939579139635498e-08, -3.086786382056061e-09, -6.20002216233928e-10, 9.999517202377319e-01, 1.000000357627869e+00, 9.999998807907104e-01, 1e+00, 1.353342980146395e-01, 8.504475772497244e-06, -2.010213165704045e-06, -1.235133506582997e-08, -1.497455381915813e-09, 5.608465075492859e-01, 5.713117122650146e-01, 5.713107585906982e-01, 8.301019072532654e-01, 8.301156163215637e-01, 7.736498117446899e-01, 7.735092639923096e-01, 7.13933527469635e-01, 7.046090960502625e-01, 7.046094536781311e-01, 7.261111736297607e-01, 7.261185050010681e-01, 7.718785405158997e-01, 7.727273106575012e-01, 7.727262377738953e-01, 7.917104959487915e-01, 7.917113900184631e-01, 7.898845076560974e-01, 7.898803949356079e-01, 7.884471416473389e-01, 7.882227897644043e-01, 7.882227897644043e-01, 7.919137477874756e-01, 7.919150590896606e-01, 7.960271835327148e-01, 7.961038947105408e-01, 7.961038947105408e-01, 7.97875702381134e-01, 7.978753447532654e-01, 7.981776595115662e-01, 7.981784343719482e-01, 7.984212040901184e-01, 7.984597682952881e-01, 7.984598278999329e-01, 7.98980712890625e-01, 7.989808917045593e-01, 7.994072437286377e-01, 7.994149327278137e-01, 7.994148731231689e-01, 7.996253967285156e-01, 7.996253967285156e-01, 7.997147440910339e-01, 7.997155785560608e-01, 7.997786402702332e-01, 7.997885346412659e-01, 7.997885346412659e-01, 7.998594045639038e-01, 7.998600602149963e-01, 9.963345527648926e-01, 9.999990463256836e-01, 1e+00, 1e+00, 1e+00, 2.47946591116488e-03, 1.334632884208986e-07, -3.386831926022182e-10, -1.335369965646538e-12, 9.660671226066576e-16, 9.996646046638489e-01, 1.00000011920929e+00, 1e+00, 1e+00, 1e+00, 8.662736415863037e-01, 8.662677407264709e-01, 8.0772465467453e-01, 8.075780272483826e-01, 8.159076571464539e-01, 8.172111511230469e-01, 8.172112107276917e-01, 8.2774418592453e-01, 8.277470469474792e-01, 8.207338452339172e-01, 8.206030130386353e-01, 8.206030130386353e-01, 8.101699352264404e-01, 8.101703524589539e-01, 8.056886196136475e-01, 8.056774735450745e-01]
+autTunSig.y=[0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00]
+PIDWitTun.inTunPro.y=[0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00]
+PIDWitTun.con.y=[0e+00, 0e+00, 0e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 1e+00, 1e+00, 1e+00, 1e+00, 5.389707088470469e-01, 5.580824613571167e-01, 4.502575397491455e-01, 3.424204289913177e-01, 2.345852255821228e-01, 2.984287142753601e-01, 2.573157250881195e-01, 2.264907360076904e-01, 2.897215783596039e-01, 2.937669456005096e-01, 2.801707684993744e-01, 2.767381966114044e-01, 2.46594101190567e-01, 2.427032738924026e-01, 2.29844868183136e-01, 2.242298126220703e-01, 2.14263841509819e-01, 2.183084785938263e-01, 2.137943804264069e-01, 2.101195007562637e-01, 2.133422344923019e-01, 2.122241258621216e-01, 2.105360627174377e-01, 2.091763913631439e-01, 2.071729898452759e-01, 2.058010697364807e-01, 2.042135894298553e-01, 2.038693279027939e-01, 2.027782201766968e-01, 2.029473334550858e-01, 2.023467421531677e-01, 2.018215656280518e-01, 2.019397467374802e-01, 2.016536891460419e-01, 2.014618366956711e-01, 2.012155503034592e-01, 2.010761648416519e-01, 2.008342295885086e-01, 2.006266564130783e-01, 2.005945593118668e-01, 2.004570066928864e-01, 2.004503011703491e-01, 2.003632783889771e-01, 2.002844959497452e-01, 2.002821415662766e-01, 2.002316415309906e-01, 2.002097964286804e-01, 2.001706063747406e-01, 2.001605033874512e-01, 2.001224905252457e-01, 2.00093999505043e-01, 2.000901699066162e-01, 2.000706195831299e-01, 2.601935267448425e-01, 2.835500836372375e-01, 3.105080127716064e-01, 3.374667763710022e-01, 3.644255697727203e-01, 9.155892580747604e-02, 0e+00, 0e+00, 0e+00, 0e+00, 9.475196152925491e-02, 1.190603896975519e-01, 1.435138434171677e-01, 1.679672300815582e-01, 1.924206167459488e-01, 1.714428216218948e-01, 1.795476675033569e-01, 1.70521467924118e-01, 1.715115308761597e-01, 1.753299236297607e-01, 1.768717765808105e-01, 1.789761334657669e-01, 1.844035238027573e-01, 1.877949088811874e-01, 1.892278641462326e-01, 1.918034553527832e-01, 1.943225264549255e-01, 1.932973861694336e-01, 1.945406347513199e-01, 1.944731920957565e-01, 1.951721608638763e-01]
+PIDWitTun.con.k=[1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 2.420570552349091e-01, 2.420570552349091e-01, 2.420570552349091e-01, 2.420570552349091e-01, 2.420570552349091e-01, 2.420570552349091e-01, 2.420570552349091e-01, 2.420570552349091e-01, 2.420570552349091e-01, 2.420570552349091e-01, 2.420570552349091e-01, 2.420570552349091e-01, 2.420570552349091e-01, 2.420570552349091e-01, 2.420570552349091e-01, 2.420570552349091e-01, 2.420570552349091e-01, 2.420570552349091e-01, 2.420570552349091e-01, 2.420570552349091e-01, 2.420570552349091e-01, 2.420570552349091e-01, 2.420570552349091e-01, 2.420570552349091e-01, 2.420570552349091e-01, 2.420570552349091e-01, 2.420570552349091e-01, 2.420570552349091e-01, 2.420570552349091e-01, 2.420570552349091e-01, 2.420570552349091e-01, 2.420570552349091e-01, 2.420570552349091e-01, 2.420570552349091e-01, 2.420570552349091e-01, 2.420570552349091e-01, 2.420570552349091e-01, 2.420570552349091e-01, 2.420570552349091e-01, 2.420570552349091e-01, 2.420570552349091e-01, 2.420570552349091e-01, 2.420570552349091e-01, 2.420570552349091e-01, 2.420570552349091e-01, 2.420570552349091e-01, 2.420570552349091e-01, 2.420570552349091e-01, 2.420570552349091e-01, 2.420570552349091e-01, 2.420570552349091e-01, 2.420570552349091e-01, 2.420570552349091e-01, 2.420570552349091e-01, 2.420570552349091e-01, 2.420570552349091e-01, 2.420570552349091e-01, 2.420570552349091e-01, 2.420570552349091e-01, 2.420570552349091e-01, 2.420570552349091e-01, 2.420570552349091e-01, 2.420570552349091e-01, 2.296565175056458e-01, 2.296565175056458e-01, 2.296565175056458e-01, 2.296565175056458e-01, 2.296565175056458e-01, 2.296565175056458e-01, 2.296565175056458e-01, 2.296565175056458e-01, 2.296565175056458e-01, 2.296565175056458e-01, 2.296565175056458e-01, 2.296565175056458e-01, 2.296565175056458e-01, 2.296565175056458e-01, 2.296565175056458e-01, 2.296565175056458e-01, 2.296565175056458e-01, 2.296565175056458e-01, 2.296565175056458e-01, 2.296565175056458e-01, 2.296565175056458e-01]
+PIDWitTun.con.Ti=[5e-01, 5e-01, 5e-01, 5e-01, 5e-01, 5e-01, 5e-01, 5e-01, 5e-01, 5e-01, 5e-01, 5e-01, 5e-01, 5e-01, 5e-01, 5e-01, 5e-01, 1.795755615234375e+02, 1.795755615234375e+02, 1.795755615234375e+02, 1.795755615234375e+02, 1.795755615234375e+02, 1.795755615234375e+02, 1.795755615234375e+02, 1.795755615234375e+02, 1.795755615234375e+02, 1.795755615234375e+02, 1.795755615234375e+02, 1.795755615234375e+02, 1.795755615234375e+02, 1.795755615234375e+02, 1.795755615234375e+02, 1.795755615234375e+02, 1.795755615234375e+02, 1.795755615234375e+02, 1.795755615234375e+02, 1.795755615234375e+02, 1.795755615234375e+02, 1.795755615234375e+02, 1.795755615234375e+02, 1.795755615234375e+02, 1.795755615234375e+02, 1.795755615234375e+02, 1.795755615234375e+02, 1.795755615234375e+02, 1.795755615234375e+02, 1.795755615234375e+02, 1.795755615234375e+02, 1.795755615234375e+02, 1.795755615234375e+02, 1.795755615234375e+02, 1.795755615234375e+02, 1.795755615234375e+02, 1.795755615234375e+02, 1.795755615234375e+02, 1.795755615234375e+02, 1.795755615234375e+02, 1.795755615234375e+02, 1.795755615234375e+02, 1.795755615234375e+02, 1.795755615234375e+02, 1.795755615234375e+02, 1.795755615234375e+02, 1.795755615234375e+02, 1.795755615234375e+02, 1.795755615234375e+02, 1.795755615234375e+02, 1.795755615234375e+02, 1.795755615234375e+02, 1.795755615234375e+02, 1.795755615234375e+02, 1.795755615234375e+02, 1.795755615234375e+02, 1.795755615234375e+02, 1.795755615234375e+02, 1.795755615234375e+02, 1.795755615234375e+02, 1.795755615234375e+02, 1.795755615234375e+02, 1.795755615234375e+02, 1.878320465087891e+02, 1.878320465087891e+02, 1.878320465087891e+02, 1.878320465087891e+02, 1.878320465087891e+02, 1.878320465087891e+02, 1.878320465087891e+02, 1.878320465087891e+02, 1.878320465087891e+02, 1.878320465087891e+02, 1.878320465087891e+02, 1.878320465087891e+02, 1.878320465087891e+02, 1.878320465087891e+02, 1.878320465087891e+02, 1.878320465087891e+02, 1.878320465087891e+02, 1.878320465087891e+02, 1.878320465087891e+02, 1.878320465087891e+02, 1.878320465087891e+02]
+PIDWitTun.con.Td=[1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 3.336437606811523e+01, 3.336437606811523e+01, 3.336437606811523e+01, 3.336437606811523e+01, 3.336437606811523e+01, 3.336437606811523e+01, 3.336437606811523e+01, 3.336437606811523e+01, 3.336437606811523e+01, 3.336437606811523e+01, 3.336437606811523e+01, 3.336437606811523e+01, 3.336437606811523e+01, 3.336437606811523e+01, 3.336437606811523e+01, 3.336437606811523e+01, 3.336437606811523e+01, 3.336437606811523e+01, 3.336437606811523e+01, 3.336437606811523e+01, 3.336437606811523e+01, 3.336437606811523e+01, 3.336437606811523e+01, 3.336437606811523e+01, 3.336437606811523e+01, 3.336437606811523e+01, 3.336437606811523e+01, 3.336437606811523e+01, 3.336437606811523e+01, 3.336437606811523e+01, 3.336437606811523e+01, 3.336437606811523e+01, 3.336437606811523e+01, 3.336437606811523e+01, 3.336437606811523e+01, 3.336437606811523e+01, 3.336437606811523e+01, 3.336437606811523e+01, 3.336437606811523e+01, 3.336437606811523e+01, 3.336437606811523e+01, 3.336437606811523e+01, 3.336437606811523e+01, 3.336437606811523e+01, 3.336437606811523e+01, 3.336437606811523e+01, 3.336437606811523e+01, 3.336437606811523e+01, 3.336437606811523e+01, 3.336437606811523e+01, 3.336437606811523e+01, 3.336437606811523e+01, 3.336437606811523e+01, 3.336437606811523e+01, 3.336437606811523e+01, 3.336437606811523e+01, 3.336437606811523e+01, 3.336437606811523e+01, 3.336437606811523e+01, 3.336437606811523e+01, 3.336437606811523e+01, 3.336437606811523e+01, 3.336437606811523e+01, 2.204592514038086e+01, 2.204592514038086e+01, 2.204592514038086e+01, 2.204592514038086e+01, 2.204592514038086e+01, 2.204592514038086e+01, 2.204592514038086e+01, 2.204592514038086e+01, 2.204592514038086e+01, 2.204592514038086e+01, 2.204592514038086e+01, 2.204592514038086e+01, 2.204592514038086e+01, 2.204592514038086e+01, 2.204592514038086e+01, 2.204592514038086e+01, 2.204592514038086e+01, 2.204592514038086e+01, 2.204592514038086e+01, 2.204592514038086e+01, 2.204592514038086e+01]
diff --git a/Buildings/Resources/ReferenceResults/Dymola/Buildings_Controls_OBC_Utilities_PIDWithAutotuning_Validation_DirectActingPIWithFirstOrderAMIGO.txt b/Buildings/Resources/ReferenceResults/Dymola/Buildings_Controls_OBC_Utilities_PIDWithAutotuning_Validation_DirectActingPIWithFirstOrderAMIGO.txt
new file mode 100644
index 00000000000..f4e6aa909cd
--- /dev/null
+++ b/Buildings/Resources/ReferenceResults/Dymola/Buildings_Controls_OBC_Utilities_PIDWithAutotuning_Validation_DirectActingPIWithFirstOrderAMIGO.txt
@@ -0,0 +1,18 @@
+last-generated=2024-08-22
+statistics-simulation=
+{
+  "linear": " ",
+  "nonlinear": " ",
+  "number of continuous time states": "6",
+  "numerical Jacobians": "0"
+}
+time=[0e+00, 1e+04]
+PI.u_s=[8.00000011920929e-01, 8.00000011920929e-01]
+PI.u_m=[0e+00, 0e+00, 0e+00, 9.975218772888184e-01, 1.000000596046448e+00, 9.999999403953552e-01, 1e+00, 1e+00, 3.36188415531069e-04, 2.256313337056781e-06, -1.972726160204274e-08, -2.00665417615653e-09, -3.176266194504507e-10, 9.999533891677856e-01, 1e+00, 1e+00, 1e+00, 1.353342384099947e-01, 9.802449312701356e-06, 9.663862954312208e-08, -3.126723768787087e-09, -7.825836645380946e-10, 9.81684684753418e-01, 9.999990463256836e-01, 1.00000011920929e+00, 1e+00, 1e+00, 2.479751594364643e-03, 2.300003188793145e-06, 1.321863152270453e-08, -1.301493461614012e-11, 1.275022405364257e-12, 9.996638298034668e-01, 9.999977946281433e-01, 1e+00, 1e+00, 1e+00, 4.579910455504432e-05, 3.163104338455014e-07, 1.072718389810712e-11, 1.087762251962814e-14, 8.64668607711792e-01, 9.999962449073792e-01, 1.000001668930054e+00, 1e+00, 1e+00, 1.831641606986523e-02, 5.93612185184611e-07, 9.684183766012211e-08, 2.261008880122262e-10, -7.214147335066201e-11, 9.975243210792542e-01, 1e+00, 1e+00, 1e+00, 1e+00, 3.366249438840764e-04, -1.081299728866705e-06, 9.224572772303929e-10, -8.106229576476665e-11, -2.145087926730405e-12, 9.99952495098114e-01, 1.00000011920929e+00, 1e+00, 1e+00, 1.353354007005692e-01, 6.282428330450784e-06, 1.813897938518494e-07, 2.814929955796613e-10, 1.07434460633335e-11, 9.816851615905762e-01, 9.999986886978149e-01, 9.999997615814209e-01, 1e+00, 1e+00, 2.477592788636684e-03, 1.349267648720343e-07, 3.75902017846208e-11, -4.262620801036981e-14, 3.362025968885028e-16, 9.996623396873474e-01, 1.000000715255737e+00, 1e+00, 1e+00, 1e+00, 4.647925015888177e-05, 3.74745667386378e-07, 2.056243841863648e-09, 1.158511689358654e-10, 8.646671175956726e-01, 9.999938607215881e-01, 9.999989867210388e-01, 1e+00, 1e+00, 1.831681840121746e-02, 1.322806156167644e-06, 3.488307953602998e-08, -9.542000002638051e-12, -2.554009304392424e-12, 9.975228309631348e-01, 9.999992847442627e-01]
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diff --git a/Buildings/Resources/ReferenceResults/Dymola/Buildings_Controls_OBC_Utilities_PIDWithAutotuning_Validation_ReverseActingPIDWithFirstOrderAMIGO.txt b/Buildings/Resources/ReferenceResults/Dymola/Buildings_Controls_OBC_Utilities_PIDWithAutotuning_Validation_ReverseActingPIDWithFirstOrderAMIGO.txt
new file mode 100644
index 00000000000..573e78029d5
--- /dev/null
+++ b/Buildings/Resources/ReferenceResults/Dymola/Buildings_Controls_OBC_Utilities_PIDWithAutotuning_Validation_ReverseActingPIDWithFirstOrderAMIGO.txt
@@ -0,0 +1,19 @@
+last-generated=2024-08-22
+statistics-simulation=
+{
+  "linear": " ",
+  "nonlinear": " ",
+  "number of continuous time states": "7",
+  "numerical Jacobians": "0"
+}
+time=[0e+00, 1e+04]
+PID.u_s=[8.00000011920929e-01, 8.00000011920929e-01]
+PID.u_m=[0e+00, 0e+00, 0e+00, 7.980154752731323e-01, 7.99999475479126e-01, 9.729332327842712e-01, 9.99999463558197e-01, 1e+00, 9.994795918464661e-01, 9.994792938232422e-01, 1.830990612506866e-02, 1.251758931175573e-06, -6.725646528593643e-08, -2.425983636200613e-09, -4.1972283981728e-10, 9.975228309631348e-01, 9.999998211860657e-01, 1.00000011920929e+00, 1e+00, 1e+00, 3.368088218849152e-04, 2.474992299994483e-07, -2.803925269745378e-08, -2.350060146483202e-09, -4.358089444878033e-10, 9.999545812606812e-01, 9.999997019767761e-01, 1e+00, 1e+00, 1.353353559970856e-01, 3.346510084156762e-06, 6.602393654020489e-08, -5.401947222871684e-10, -1.412146528184666e-11, 9.816867113113407e-01, 9.999982714653015e-01, 9.999998807907104e-01, 1e+00, 1e+00, 2.476743888109922e-03, -1.781613832463336e-06, -6.742389757619094e-08, 1.012146096102118e-11, -1.003367853212589e-12, 9.996663928031921e-01, 9.999988079071045e-01, 1e+00, 1e+00, 1e+00, 4.676049866247922e-05, 4.065481107318192e-07, 2.695365486360402e-09, 2.61675767859737e-11, 8.646663427352905e-01, 9.999933242797852e-01, 9.999995827674866e-01, 1e+00, 1e+00, 1.831627823412418e-02, 7.008571287769882e-07, -6.862588719513951e-08, -8.335588469465804e-11, 1.472664351576114e-11, 9.975141286849976e-01, 1.000001192092896e+00, 9.999999403953552e-01, 1e+00, 1e+00, 3.419911954551802e-04, 2.19526995692918e-07, -3.368480161469734e-09, -1.480397293467106e-12, -2.137227569400102e-13, 9.999510049819946e-01, 9.99999463558197e-01, 1e+00, 1e+00, 1.353331804275513e-01, 1.108373544411734e-05, 2.066481101792306e-06, 3.222124234092405e-10, 8.701890119935786e-13, 9.816853404045105e-01, 1.000000238418579e+00, 9.999998807907104e-01, 1e+00, 1e+00, 2.481316681951284e-03, -1.940023139468394e-06, -6.309079036981302e-09, 1.937954484387827e-11, -1.19264511461159e-11, 9.996622800827026e-01, 9.999992847442627e-01, 1e+00, 1e+00, 1e+00, 4.848184835282154e-05, 4.457096736132371e-07, 5.680009795838714e-10, 8.696095926685743e-12]
+PIDWitTun.u_s=[8.00000011920929e-01, 8.00000011920929e-01]
+PIDWitTun.u_m=[0e+00, 0e+00, 0e+00, 7.980154752731323e-01, 7.99999475479126e-01, 9.729332327842712e-01, 9.99999463558197e-01, 1e+00, 9.994795918464661e-01, 9.994792938232422e-01, 1.830990612506866e-02, 1.251758931175573e-06, -6.725645107508171e-08, -2.425984080289822e-09, -4.197231451286118e-10, 9.975228309631348e-01, 9.999998211860657e-01, 1.00000011920929e+00, 1e+00, 1e+00, 3.368088218849152e-04, 2.474992299994483e-07, -2.803925269745378e-08, -2.350060146483202e-09, -4.358089444878033e-10, 4.975612759590149e-01, 4.975837469100952e-01, 7.040309309959412e-01, 7.045446038246155e-01, 6.858694553375244e-01, 6.82946503162384e-01, 6.829464435577393e-01, 6.661216020584106e-01, 6.661160588264465e-01, 7.000972032546997e-01, 7.007310390472412e-01, 7.00731098651886e-01, 7.387421131134033e-01, 7.387435436248779e-01, 7.57433295249939e-01, 7.57479727268219e-01, 7.645875811576843e-01, 7.65700101852417e-01, 7.656999230384827e-01, 7.729384303092957e-01, 7.729408740997314e-01, 7.800321578979492e-01, 7.801668047904968e-01, 7.801654934883118e-01, 7.857121825218201e-01, 7.857124209403992e-01, 7.893857359886169e-01, 7.893945574760437e-01, 7.916278839111328e-01, 7.919774651527405e-01, 7.919774651527405e-01, 7.939823865890503e-01, 7.939820885658264e-01, 7.9551100730896e-01, 7.955394983291626e-01, 7.955394983291626e-01, 7.966927886009216e-01, 7.966944575309753e-01, 7.975335121154785e-01, 7.975355982780457e-01, 7.980745434761047e-01, 7.981592416763306e-01, 7.981593012809753e-01, 7.986276745796204e-01, 7.986278533935547e-01, 9.963120818138123e-01, 9.999983906745911e-01, 9.999997615814209e-01, 1e+00, 1e+00, 2.480022609233856e-03, 2.752246246018331e-06, -9.531796463235764e-10, -7.806505008395304e-14, -1.455465522409716e-14, 9.996628761291504e-01, 9.999991059303284e-01, 1e+00, 1e+00, 1e+00, 8.718217015266418e-01, 8.718155026435852e-01, 8.202723264694214e-01, 8.2014399766922e-01, 8.264510035514832e-01, 8.274421691894531e-01, 8.274372220039368e-01, 8.326526284217834e-01, 8.326543569564819e-01, 8.242496252059937e-01, 8.240941166877747e-01, 8.240940570831299e-01, 8.146065473556519e-01, 8.146060705184937e-01, 8.101191520690918e-01, 8.101077079772949e-01]
+autTunSig.y=[0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00]
+PIDWitTun.inTunPro.y=[0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00]
+PIDWitTun.con.y=[8.00000011920929e-01, 1e+00, 1e+00, 1e+00, 9.999883770942688e-01, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 3.599509298801422e-01, 4.458442032337189e-01, 5.320774912834167e-01, 6.183111667633057e-01, 7.04544723033905e-01, 6.372856497764587e-01, 6.699063777923584e-01, 6.470752358436584e-01, 6.578841805458069e-01, 6.758216619491577e-01, 6.855903267860413e-01, 6.98207676410675e-01, 7.15658962726593e-01, 7.300850749015808e-01, 7.354382872581483e-01, 7.467792630195618e-01, 7.57479727268219e-01, 7.564542293548584e-01, 7.630585432052612e-01, 7.64643669128418e-01, 7.692742347717285e-01, 7.709485292434692e-01, 7.757284641265869e-01, 7.794255614280701e-01, 7.810431718826294e-01, 7.839623689651489e-01, 7.849836349487305e-01, 7.872577905654907e-01, 7.893946170806885e-01, 7.898210883140564e-01, 7.913614511489868e-01, 7.919155359268188e-01, 7.930676937103271e-01, 7.932962775230408e-01, 7.94501781463623e-01, 7.953665852546692e-01, 7.956563234329224e-01, 7.963048219680786e-01, 7.96545147895813e-01, 7.970547676086426e-01, 7.975355982780457e-01, 7.976588606834412e-01, 7.980168461799622e-01, 7.981475591659546e-01, 7.984153628349304e-01, 7.984607219696045e-01, 7.987408638000488e-01, 7.989393472671509e-01, 7.990030646324158e-01, 7.991511225700378e-01, 7.464867830276489e-01, 7.286535501480103e-01, 7.070965766906738e-01, 6.855384111404419e-01, 6.639800071716309e-01, 8.997863531112671e-01, 9.835137128829956e-01, 1e+00, 1e+00, 1e+00, 9.061142802238464e-01, 8.847327232360838e-01, 8.632035255432129e-01, 8.416737914085388e-01, 8.201441168785095e-01, 8.382647037506104e-01, 8.305313587188721e-01, 8.366141319274902e-01, 8.343890905380249e-01, 8.301587104797363e-01, 8.276401162147522e-01, 8.24684202671051e-01, 8.202296495437622e-01, 8.167151808738708e-01, 8.153634667396545e-01, 8.127012252807617e-01, 8.101075291633606e-01, 8.104486465454102e-01, 8.08876097202301e-01, 8.085066080093384e-01, 8.074135184288025e-01]
+PIDWitTun.con.k=[1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 2.114173322916031e-01, 2.114173322916031e-01, 2.114173322916031e-01, 2.114173322916031e-01, 2.114173322916031e-01, 2.114173322916031e-01, 2.114173322916031e-01, 2.114173322916031e-01, 2.114173322916031e-01, 2.114173322916031e-01, 2.114173322916031e-01, 2.114173322916031e-01, 2.114173322916031e-01, 2.114173322916031e-01, 2.114173322916031e-01, 2.114173322916031e-01, 2.114173322916031e-01, 2.114173322916031e-01, 2.114173322916031e-01, 2.114173322916031e-01, 2.114173322916031e-01, 2.114173322916031e-01, 2.114173322916031e-01, 2.114173322916031e-01, 2.114173322916031e-01, 2.114173322916031e-01, 2.114173322916031e-01, 2.114173322916031e-01, 2.114173322916031e-01, 2.114173322916031e-01, 2.114173322916031e-01, 2.114173322916031e-01, 2.114173322916031e-01, 2.114173322916031e-01, 2.114173322916031e-01, 2.114173322916031e-01, 2.114173322916031e-01, 2.114173322916031e-01, 2.114173322916031e-01, 2.114173322916031e-01, 2.114173322916031e-01, 2.114173322916031e-01, 2.114173322916031e-01, 2.114173322916031e-01, 2.114173322916031e-01, 2.114173322916031e-01, 2.114173322916031e-01, 2.114173322916031e-01, 2.114173322916031e-01, 2.114173322916031e-01, 2.114173322916031e-01, 2.114173322916031e-01, 2.114173322916031e-01, 2.114173322916031e-01, 2.114173322916031e-01, 2.114173322916031e-01, 2.114173322916031e-01, 2.114173322916031e-01, 2.114173322916031e-01, 2.114173322916031e-01, 2.124186754226685e-01, 2.124186754226685e-01, 2.124186754226685e-01, 2.124186754226685e-01, 2.124186754226685e-01, 2.124186754226685e-01, 2.124186754226685e-01, 2.124186754226685e-01, 2.124186754226685e-01, 2.124186754226685e-01, 2.124186754226685e-01, 2.124186754226685e-01, 2.124186754226685e-01, 2.124186754226685e-01, 2.124186754226685e-01, 2.124186754226685e-01, 2.124186754226685e-01, 2.124186754226685e-01, 2.124186754226685e-01, 2.124186754226685e-01, 2.124186754226685e-01]
+PIDWitTun.con.Ti=[5e-01, 5e-01, 5e-01, 5e-01, 5e-01, 5e-01, 5e-01, 5e-01, 5e-01, 5e-01, 5e-01, 5e-01, 5e-01, 5e-01, 5e-01, 5e-01, 5e-01, 5e-01, 5e-01, 5e-01, 1.96134521484375e+02, 1.96134521484375e+02, 1.96134521484375e+02, 1.96134521484375e+02, 1.96134521484375e+02, 1.96134521484375e+02, 1.96134521484375e+02, 1.96134521484375e+02, 1.96134521484375e+02, 1.96134521484375e+02, 1.96134521484375e+02, 1.96134521484375e+02, 1.96134521484375e+02, 1.96134521484375e+02, 1.96134521484375e+02, 1.96134521484375e+02, 1.96134521484375e+02, 1.96134521484375e+02, 1.96134521484375e+02, 1.96134521484375e+02, 1.96134521484375e+02, 1.96134521484375e+02, 1.96134521484375e+02, 1.96134521484375e+02, 1.96134521484375e+02, 1.96134521484375e+02, 1.96134521484375e+02, 1.96134521484375e+02, 1.96134521484375e+02, 1.96134521484375e+02, 1.96134521484375e+02, 1.96134521484375e+02, 1.96134521484375e+02, 1.96134521484375e+02, 1.96134521484375e+02, 1.96134521484375e+02, 1.96134521484375e+02, 1.96134521484375e+02, 1.96134521484375e+02, 1.96134521484375e+02, 1.96134521484375e+02, 1.96134521484375e+02, 1.96134521484375e+02, 1.96134521484375e+02, 1.96134521484375e+02, 1.96134521484375e+02, 1.96134521484375e+02, 1.96134521484375e+02, 1.96134521484375e+02, 1.96134521484375e+02, 1.96134521484375e+02, 1.96134521484375e+02, 1.96134521484375e+02, 1.96134521484375e+02, 1.96134521484375e+02, 1.96134521484375e+02, 1.96134521484375e+02, 1.96134521484375e+02, 1.96134521484375e+02, 1.96134521484375e+02, 1.97326171875e+02, 1.97326171875e+02, 1.97326171875e+02, 1.97326171875e+02, 1.97326171875e+02, 1.97326171875e+02, 1.97326171875e+02, 1.97326171875e+02, 1.97326171875e+02, 1.97326171875e+02, 1.97326171875e+02, 1.97326171875e+02, 1.97326171875e+02, 1.97326171875e+02, 1.97326171875e+02, 1.97326171875e+02, 1.97326171875e+02, 1.97326171875e+02, 1.97326171875e+02, 1.97326171875e+02, 1.97326171875e+02]
+PIDWitTun.con.Td=[1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 1.000000014901161e-01, 3.644467926025391e+01, 3.644467926025391e+01, 3.644467926025391e+01, 3.644467926025391e+01, 3.644467926025391e+01, 3.644467926025391e+01, 3.644467926025391e+01, 3.644467926025391e+01, 3.644467926025391e+01, 3.644467926025391e+01, 3.644467926025391e+01, 3.644467926025391e+01, 3.644467926025391e+01, 3.644467926025391e+01, 3.644467926025391e+01, 3.644467926025391e+01, 3.644467926025391e+01, 3.644467926025391e+01, 3.644467926025391e+01, 3.644467926025391e+01, 3.644467926025391e+01, 3.644467926025391e+01, 3.644467926025391e+01, 3.644467926025391e+01, 3.644467926025391e+01, 3.644467926025391e+01, 3.644467926025391e+01, 3.644467926025391e+01, 3.644467926025391e+01, 3.644467926025391e+01, 3.644467926025391e+01, 3.644467926025391e+01, 3.644467926025391e+01, 3.644467926025391e+01, 3.644467926025391e+01, 3.644467926025391e+01, 3.644467926025391e+01, 3.644467926025391e+01, 3.644467926025391e+01, 3.644467926025391e+01, 3.644467926025391e+01, 3.644467926025391e+01, 3.644467926025391e+01, 3.644467926025391e+01, 3.644467926025391e+01, 3.644467926025391e+01, 3.644467926025391e+01, 3.644467926025391e+01, 3.644467926025391e+01, 3.644467926025391e+01, 3.644467926025391e+01, 3.644467926025391e+01, 3.644467926025391e+01, 3.644467926025391e+01, 3.644467926025391e+01, 3.644467926025391e+01, 3.644467926025391e+01, 3.644467926025391e+01, 3.644467926025391e+01, 3.644467926025391e+01, 2.321598815917969e+01, 2.321598815917969e+01, 2.321598815917969e+01, 2.321598815917969e+01, 2.321598815917969e+01, 2.321598815917969e+01, 2.321598815917969e+01, 2.321598815917969e+01, 2.321598815917969e+01, 2.321598815917969e+01, 2.321598815917969e+01, 2.321598815917969e+01, 2.321598815917969e+01, 2.321598815917969e+01, 2.321598815917969e+01, 2.321598815917969e+01, 2.321598815917969e+01, 2.321598815917969e+01, 2.321598815917969e+01, 2.321598815917969e+01, 2.321598815917969e+01]
diff --git a/Buildings/Resources/ReferenceResults/Dymola/Buildings_Controls_OBC_Utilities_PIDWithAutotuning_Validation_ReverseActingPIWithFirstOrderAMIGO.txt b/Buildings/Resources/ReferenceResults/Dymola/Buildings_Controls_OBC_Utilities_PIDWithAutotuning_Validation_ReverseActingPIWithFirstOrderAMIGO.txt
new file mode 100644
index 00000000000..5b5852b89d6
--- /dev/null
+++ b/Buildings/Resources/ReferenceResults/Dymola/Buildings_Controls_OBC_Utilities_PIDWithAutotuning_Validation_ReverseActingPIWithFirstOrderAMIGO.txt
@@ -0,0 +1,18 @@
+last-generated=2024-08-22
+statistics-simulation=
+{
+  "linear": " ",
+  "nonlinear": " ",
+  "number of continuous time states": "5",
+  "numerical Jacobians": "0"
+}
+time=[0e+00, 1e+04]
+PI.u_s=[8.00000011920929e-01, 8.00000011920929e-01]
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diff --git a/Buildings/Resources/ReferenceResults/Dymola/Buildings_Fluid_HeatExchangers_Examples_WetCoilCounterFlowPControlAutoTuning.txt b/Buildings/Resources/ReferenceResults/Dymola/Buildings_Fluid_HeatExchangers_Examples_WetCoilCounterFlowPControlAutoTuning.txt
new file mode 100644
index 00000000000..60ccfda3b4c
--- /dev/null
+++ b/Buildings/Resources/ReferenceResults/Dymola/Buildings_Fluid_HeatExchangers_Examples_WetCoilCounterFlowPControlAutoTuning.txt
@@ -0,0 +1,22 @@
+last-generated=2024-08-28
+statistics-initialization=
+{
+  "nonlinear": "1",
+  "numerical Jacobians": "0"
+}
+statistics-simulation=
+{
+  "linear": "0",
+  "nonlinear": "0, 1",
+  "number of continuous time states": "22",
+  "numerical Jacobians": "0"
+}
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diff --git a/Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/Validation/PIDDerivativeTime.mos b/Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/Validation/PIDDerivativeTime.mos
new file mode 100644
index 00000000000..0b2251f5b3b
--- /dev/null
+++ b/Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/Validation/PIDDerivativeTime.mos
@@ -0,0 +1,3 @@
+simulateModel("Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.BaseClasses.Validation.PIDDerivativeTime", method="Cvode", tolerance=1e-06, resultFile="PIDDerivativeTime");
+createPlot(id=1, position={35, 35, 884, 547}, y={"T.y", "L.y"}, range={0.0, 1.0, 0.2, 1.2}, grid=true, subPlot=101, colors={{28,108,200}, {238,46,47}});
+createPlot(id=1, position={35, 35, 884, 547}, y={"PIDDerTim.Td"}, range={0.0, 1.0, 0.10000000000000002, 0.30000000000000004}, grid=true, subPlot=102, colors={{28,108,200}});
\ No newline at end of file
diff --git a/Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/Validation/PIDGain.mos b/Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/Validation/PIDGain.mos
new file mode 100644
index 00000000000..cfbcaa1959d
--- /dev/null
+++ b/Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/Validation/PIDGain.mos
@@ -0,0 +1,3 @@
+simulateModel("Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.BaseClasses.Validation.PIDGain", method="Cvode", tolerance=1e-06, resultFile="PIDGain");
+createPlot(id=1, position={15, 15, 884, 547}, y={"kp.y", "T.y", "L.y"}, range={0.0, 1.0, 0.0, 2.5}, grid=true, subPlot=101, colors={{28,108,200}, {238,46,47}, {0,140,72}});
+createPlot(id=1, position={15, 15, 884, 547}, y={"PIDGai.k"}, range={0.0, 1.0, 0.4, 1.0}, grid=true, subPlot=102, colors={{28,108,200}});
\ No newline at end of file
diff --git a/Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/Validation/PIDIntegralTime.mos b/Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/Validation/PIDIntegralTime.mos
new file mode 100644
index 00000000000..2d854b319f4
--- /dev/null
+++ b/Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/Validation/PIDIntegralTime.mos
@@ -0,0 +1,3 @@
+simulateModel("Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.BaseClasses.Validation.PIDIntegralTime", method="Cvode", tolerance=1e-06, resultFile="PIDIntegralTime");
+createPlot(id=1, position={75, 75, 884, 547}, y={"T.y", "L.y"}, range={0.0, 1.0, 0.2, 1.2}, grid=true, subPlot=101, colors={{238,46,47}, {0,140,72}});
+createPlot(id=1, position={75, 75, 884, 547}, y={"PIDIntTim.Ti"}, range={0.0, 1.0, 0.4, 1.0}, grid=true, subPlot=102, colors={{28,108,200}});
\ No newline at end of file
diff --git a/Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/Validation/PIGain.mos b/Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/Validation/PIGain.mos
new file mode 100644
index 00000000000..396dfabd83c
--- /dev/null
+++ b/Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/Validation/PIGain.mos
@@ -0,0 +1,3 @@
+simulateModel("Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.BaseClasses.Validation.PIGain", method="Cvode", tolerance=1e-06, resultFile="PIGain");
+createPlot(id=1, position={15, 15, 884, 547}, y={"kp.y", "T.y", "L.y"}, range={0.0, 1.0, 0.0, 2.5}, grid=true, subPlot=101, colors={{28,108,200}, {238,46,47}, {0,140,72}});
+createPlot(id=1, position={15, 15, 884, 547}, y={"PIGai.k"}, range={0.0, 1.0, 0.15000000000000002, 0.35000000000000003}, grid=true, subPlot=102, colors={{28,108,200}});
\ No newline at end of file
diff --git a/Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/Validation/PIIntegralTime.mos b/Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/Validation/PIIntegralTime.mos
new file mode 100644
index 00000000000..2395fff2a85
--- /dev/null
+++ b/Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/Validation/PIIntegralTime.mos
@@ -0,0 +1,3 @@
+simulateModel("Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.BaseClasses.Validation.PIIntegralTime", method="Cvode", tolerance=1e-06, resultFile="PIIntegralTime");
+createPlot(id=1, position={75, 75, 884, 547}, y={"T.y", "L.y"}, range={0.0, 1.0, 0.2, 1.2}, grid=true, subPlot=101, colors={{238,46,47}, {0,140,72}});
+createPlot(id=1, position={75, 75, 884, 547}, y={"PIIntTim.Ti"}, range={0.0, 1.0, 0.4, 1.0}, grid=true, subPlot=102, colors={{28,108,200}});
\ No newline at end of file
diff --git a/Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/Validation/PI.mos b/Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/Validation/PI.mos
new file mode 100644
index 00000000000..9560d057519
--- /dev/null
+++ b/Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/Validation/PI.mos
@@ -0,0 +1,3 @@
+simulateModel("Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.Validation.PI", method="Cvode", tolerance=1e-06, resultFile="PI");
+createPlot(id=1, position={15, 15, 884, 547}, y={"kp.y", "T.y", "L.y"}, range={0.0, 1.0, 0.0, 2.5}, grid=true, subPlot=101, colors={{28,108,200}, {238,46,47}, {0,140,72}});
+createPlot(id=1, position={15, 15, 884, 547}, y={"PI.k", "PI.Ti"}, range={0.0, 1.0, 0.0, 1.0}, grid=true, subPlot=102, colors={{28,108,200}, {238,46,47}});
\ No newline at end of file
diff --git a/Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/Validation/PID.mos b/Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/Validation/PID.mos
new file mode 100644
index 00000000000..d890f70ce37
--- /dev/null
+++ b/Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/Validation/PID.mos
@@ -0,0 +1,3 @@
+simulateModel("Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.Validation.PID", method="Cvode", tolerance=1e-06, resultFile="PID");
+createPlot(id=1, position={15, 15, 884, 547}, y={"kp.y", "T.y", "L.y"}, range={0.0, 1.0, 0.0, 2.5}, grid=true, subPlot=101, colors={{28,108,200}, {238,46,47}, {0,140,72}});
+createPlot(id=1, position={55, 55, 884, 547}, y={"PID.k", "PID.Ti", "PID.Td"}, range={0.0, 1.0, 0.0, 1.0}, grid=true, subPlot=102, colors={{28,108,200}, {238,46,47}, {0,140,72}});
\ No newline at end of file
diff --git a/Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/Relay/BaseClasses/Validation/HalfPeriodRatio.mos b/Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/Relay/BaseClasses/Validation/HalfPeriodRatio.mos
new file mode 100644
index 00000000000..d54b42bf646
--- /dev/null
+++ b/Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/Relay/BaseClasses/Validation/HalfPeriodRatio.mos
@@ -0,0 +1,3 @@
+simulateModel("Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.BaseClasses.Validation.HalfPeriodRatio", method="Cvode", tolerance=1e-06, resultFile="HalfPeriodRatio");
+createPlot(id=1, position={75, 75, 884, 547}, y={"tOn.y", "tOff.y"}, range={0.0, 1.0, -0.5, 1.0}, grid=true, subPlot=101, colors={{28,108,200}, {238,46,47}});
+createPlot(id=1, position={75, 75, 884, 547}, y={"halPerRat.rho"}, range={0.0, 1.0, 0.0, 4.0}, grid=true, subPlot=102, colors={{28,108,200}});
\ No newline at end of file
diff --git a/Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/Relay/BaseClasses/Validation/NormalizedTimeDelay.mos b/Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/Relay/BaseClasses/Validation/NormalizedTimeDelay.mos
new file mode 100644
index 00000000000..d66ee87d05a
--- /dev/null
+++ b/Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/Relay/BaseClasses/Validation/NormalizedTimeDelay.mos
@@ -0,0 +1,3 @@
+simulateModel("Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.BaseClasses.Validation.NormalizedTimeDelay", method="Cvode", tolerance=1e-06, resultFile="NormalizedTimeDelay");
+createPlot(id=1, position={35, 35, 884, 547}, y={"rho.y"}, range={0.0, 1.0, 0.5, 2.5}, grid=true, subPlot=101, colors={{28,108,200}});
+createPlot(id=1, position={35, 35, 884, 547}, y={"norTimDel.tau"}, range={0.0, 1.0, 0.2, 1.2}, grid=true, subPlot=102, colors={{28,108,200}});
\ No newline at end of file
diff --git a/Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/Relay/BaseClasses/Validation/OnOffPeriod.mos b/Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/Relay/BaseClasses/Validation/OnOffPeriod.mos
new file mode 100644
index 00000000000..3b4f87329f1
--- /dev/null
+++ b/Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/Relay/BaseClasses/Validation/OnOffPeriod.mos
@@ -0,0 +1,3 @@
+simulateModel("Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.BaseClasses.Validation.OnOffPeriod", method="Cvode", tolerance=1e-06, resultFile="OnOffPeriod");
+createPlot(id=1, position={15, -71, 930, 617}, y={"relSwi.y", "retSig.y"}, range={0.0, 1.0, -0.2, 1.2000000000000002}, grid=true, subPlot=101, colors={{28,108,200}, {28,108,200}});
+createPlot(id=1, position={15, -71, 930, 617}, y={"onOffPer.tOn", "onOffPer.tOff"}, range={0.0, 1.0, -0.2, 0.8}, grid=true, subPlot=102, colors={{238,46,47}, {28,108,200}})
\ No newline at end of file
diff --git a/Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/Relay/BaseClasses/Validation/SamplerWithResetThreshold.mos b/Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/Relay/BaseClasses/Validation/SamplerWithResetThreshold.mos
new file mode 100644
index 00000000000..3322a561a12
--- /dev/null
+++ b/Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/Relay/BaseClasses/Validation/SamplerWithResetThreshold.mos
@@ -0,0 +1,4 @@
+simulateModel("Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.BaseClasses.Validation.SamplerWithResetThreshold", method="Cvode", tolerance=1e-06,resultFile="SamplerWithResetThreshold");
+createPlot(id=1, position={35, 35, 884, 547}, y={"u.y"}, range={0.0, 1.0, -1.0, 1.0}, grid=true, subPlot=101, colors={{28,108,200}});
+createPlot(id=1, position={35, 35, 884, 547}, y={"resSig.y"}, range={0.0, 1.0, -1.0, 2.0}, grid=true, subPlot=102, colors={{28,108,200}});
+createPlot(id=1, position={35, 35, 884, 547}, y={"sam.y"}, range={0.0, 1.0, -0.5, 1.0}, grid=true, subPlot=103, colors={{28,108,200}});
\ No newline at end of file
diff --git a/Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/Relay/BaseClasses/Validation/TuningMonitor.mos b/Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/Relay/BaseClasses/Validation/TuningMonitor.mos
new file mode 100644
index 00000000000..0825b99350a
--- /dev/null
+++ b/Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/Relay/BaseClasses/Validation/TuningMonitor.mos
@@ -0,0 +1,3 @@
+simulateModel("Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.BaseClasses.Validation.TuningMonitor", method="Cvode", tolerance=1e-06,resultFile="TunMonitor");
+createPlot(id=1, position={0, 0, 1392, 452}, y={"tOn.y", "tOff.y"}, range={0.0, 1.0, -0.2, 0.6}, grid=true, subPlot=101, colors={{28,108,200}, {238,46,47}});
+createPlot(id=1, position={0, 0, 1392, 452}, y={"tunSta.y", "tunEnd.y"}, range={0.0, 1.0, -0.5, 1.5}, grid=true, subPlot=102, colors={{28,108,200}, {28,108,200}});
diff --git a/Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/Relay/Validation/Controller.mos b/Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/Relay/Validation/Controller.mos
new file mode 100644
index 00000000000..9409ddb272d
--- /dev/null
+++ b/Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/Relay/Validation/Controller.mos
@@ -0,0 +1,7 @@
+simulateModel("Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.Validation.Controller", method="Cvode", tolerance=1e-06, stopTime=1.0, resultFile="Controller");
+createPlot(id=1, position={24, 24, 1148, 620}, y={"relCon.u_m"}, range={0.0, 1.0, -1.5, 1.5}, grid=true, subPlot=101, colors={{28,108,200}});
+plotExpression(apply(Controller[end].relCon.u_s-0.4), false, "controller[end].relCon.u_s-deaBan", 1);
+plotExpression(apply(Controller[end].relCon.u_s+0.4), false, "controller[end].relCon.u_s+deaBan", 1);
+createPlot(id=1, position={15, 15, 1148, 620}, y={"enaSig.y"}, range={0.0, 1.0, -1.0, 2.0}, grid=true, subPlot=102, colors={{28,108,200}});
+createPlot(id=1, position={15, 15, 1148, 620}, y={"relCon.y"}, range={0.0, 1.0, -2.0, 2.0}, grid=true, subPlot=103, colors={{28,108,200}});
+createPlot(id=1, position={15, 15, 1148, 620}, y={"relCon.yDif", "relCon.yOn"}, range={0.0, 1.0, -2.0, 2.0}, grid=true, subPlot=104, colors={{28,108,200}, {238,46,47}});
diff --git a/Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/Relay/Validation/ResponseProcess.mos b/Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/Relay/Validation/ResponseProcess.mos
new file mode 100644
index 00000000000..d175ef306d3
--- /dev/null
+++ b/Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/Relay/Validation/ResponseProcess.mos
@@ -0,0 +1,5 @@
+simulateModel("Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.Validation.ResponseProcess", method="Cvode", tolerance=1e-06, resultFile="ResponseProcess");
+createPlot(id=1, position={37, 37, 1082, 571}, y={"relSwi.y"}, range={0.0, 1.0, -1.0, 2.0}, grid=true, subPlot=101, colors={{28,108,200}});
+createPlot(id=1, position={37, 37, 1082, 571}, y={"resPro.tOn", "resPro.tOff"}, range={0.0, 1.0, -1.0, 1.0}, grid=true, subPlot=102, colors={{28,108,200}, {238,46,47}});
+createPlot(id=1, position={15, 15, 1082, 571}, y={"tunSta.y", "tunEnd.y", "resSig.y"}, range={0.0, 1.0, -1.0, 2.0}, grid=true, subPlot=103, colors={{28,108,200}, {28,108,200}, {28,108,200}});
+createPlot(id=1, position={37, 37, 1082, 571}, y={"resPro.tau"}, range={0.0, 1.0, 0.0, 2.0}, grid=true, subPlot=104, colors={{28,108,200}});
\ No newline at end of file
diff --git a/Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/SystemIdentification/FirstOrderTimedelayed/BaseClasses/Validation/Gain.mos b/Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/SystemIdentification/FirstOrderTimedelayed/BaseClasses/Validation/Gain.mos
new file mode 100644
index 00000000000..c59df2384b0
--- /dev/null
+++ b/Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/SystemIdentification/FirstOrderTimedelayed/BaseClasses/Validation/Gain.mos
@@ -0,0 +1,6 @@
+simulateModel("Buildings.Controls.OBC.Utilities.PIDWithAutotuning.SystemIdentification.FirstOrderTimedelayed.BaseClasses.Validation.Gain", method="Cvode", tolerance=1e-06, resultFile="Gain");
+createPlot(id=1, position={34, 9, 995, 662}, y={"u.y"}, range={0.0, 1.0, 0.0, 1.5}, grid=true, subPlot=101, colors={{28,108,200}});
+createPlot(id=1, position={34, 9, 995, 662}, y={"tOn.y"}, range={0.0, 1.0, 0.0, 0.4}, grid=true, subPlot=102, colors={{28,108,200}});
+createPlot(id=1, position={34, 9, 995, 662}, y={"tOff.y"}, range={0.0, 1.0, -1.0, 1.0}, grid=true, subPlot=103, colors={{28,108,200}});
+createPlot(id=1, position={34, 9, 995, 662}, y={"tunSta.y"}, range={0.0, 1.0, -1.0, 2.0}, grid=true, subPlot=104, colors={{28,108,200}});
+createPlot(id=1, position={34, 9, 995, 662}, y={"gai.k"}, range={0.0, 1.0, -1000.0, 1000.0}, grid=true, subPlot=105, colors={{28,108,200}});
\ No newline at end of file
diff --git a/Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/SystemIdentification/FirstOrderTimedelayed/BaseClasses/Validation/TimeConstantDelay.mos b/Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/SystemIdentification/FirstOrderTimedelayed/BaseClasses/Validation/TimeConstantDelay.mos
new file mode 100644
index 00000000000..f2ce5275f20
--- /dev/null
+++ b/Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/SystemIdentification/FirstOrderTimedelayed/BaseClasses/Validation/TimeConstantDelay.mos
@@ -0,0 +1,6 @@
+simulateModel("Buildings.Controls.OBC.Utilities.PIDWithAutotuning.SystemIdentification.FirstOrderTimedelayed.BaseClasses.Validation.TimeConstantDelay", method="Cvode", tolerance=1e-06, resultFile="TimeConstantDelay");
+createPlot(id=1, position={15, 15, 1101, 667}, y={"tOn.y"}, range={0.0, 1.0, -0.1, 0.2}, grid=true, subPlot=101, colors={{28,108,200}});
+createPlot(id=1, position={15, 15, 1101, 667}, y={"k.y"}, range={0.0, 1.0, 0.8, 1.2}, grid=true, subPlot=102, colors={{28,108,200}});
+createPlot(id=1, position={15, 15, 1101, 667}, y={"ratioLT.y"}, range={0.0, 1.0, 0.2, 0.5}, grid=true, subPlot=103, colors={{28,108,200}});
+createPlot(id=1, position={15, 15, 1101, 667}, y={"timConDel.T"}, range={0.0, 1.0, -0.1, 0.2}, grid=true, subPlot=104, colors={{28,108,200}});
+createPlot(id=1, position={15, 15, 1101, 667}, y={"timConDel.L"}, range={0.0, 1.0, -0.05, 0.05}, grid=true, subPlot=105, colors={{28,108,200}});
diff --git a/Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/SystemIdentification/FirstOrderTimedelayed/Validation/ControlProcessModel.mos b/Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/SystemIdentification/FirstOrderTimedelayed/Validation/ControlProcessModel.mos
new file mode 100644
index 00000000000..2a0a1bdc8dd
--- /dev/null
+++ b/Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/SystemIdentification/FirstOrderTimedelayed/Validation/ControlProcessModel.mos
@@ -0,0 +1,6 @@
+simulateModel("Buildings.Controls.OBC.Utilities.PIDWithAutotuning.SystemIdentification.FirstOrderTimedelayed.Validation.ControlProcessModel", method="Cvode", tolerance=1e-06, resultFile="ControlProcessModel");
+createPlot(id=1, position={10, -9, 710, 687}, y={"tunSta.y", "tunEnd.y"}, range={0.0, 1.0, -1.0, 2.0}, grid=true, subPlot=101, colors={{28,108,200}, {28,108,200}});
+createPlot(id=1, position={10, -9, 710, 687}, y={"u.y", "ratioLT.y"}, range={0.0, 1.0, 0.0, 2.0}, grid=true, subPlot=102, colors={{28,108,200}, {238,46,47}});
+createPlot(id=1, position={10, -9, 710, 687}, y={"tOn.y", "tOff.y"}, range={0.0, 1.0, -1.0, 1.0}, grid=true, subPlot=103, colors={{28,108,200}, {238,46,47}});
+createPlot(id=1, position={10, -9, 710, 687}, y={"conProMod.k"}, range={0.0, 1.0, 0.0, 20.0}, grid=true, subPlot=104, colors={{28,108,200}});
+createPlot(id=1, position={10, -9, 710, 687}, y={"conProMod.T", "conProMod.L"}, range={0.0, 1.0, 0.0, 2.0}, grid=true, subPlot=105, colors={{238,46,47}, {0,140,72}});
\ No newline at end of file
diff --git a/Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/Validation/DirectActingPIDWithFirstOrderAMIGO.mos b/Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/Validation/DirectActingPIDWithFirstOrderAMIGO.mos
new file mode 100644
index 00000000000..571cb540fef
--- /dev/null
+++ b/Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/Validation/DirectActingPIDWithFirstOrderAMIGO.mos
@@ -0,0 +1,9 @@
+simulateModel("Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Validation.DirectActingPIDWithFirstOrderAMIGO", stopTime=10000, method="Cvode", tolerance=1e-06, resultFile="DirectActingPIDWithFirstOrderAMIGO");
+createPlot(id=1, position={58, 0, 954, 958}, y={"PID.u_s", "PID.u_m"}, range={0.0, 10000.0, -1.0, 2.0}, grid=true, subPlot=101, colors={{28,108,200}, {238,46,47}}, timeUnit="s");
+createPlot(id=1, position={58, 0, 954, 958}, y={"PIDWitTun.u_s", "PIDWitTun.u_m"}, range={0.0, 10000.0, -1.0, 2.0}, grid=true, subPlot=102, colors={{28,108,200}, {238,46,47}}, timeUnit="s");
+createPlot(id=1, position={58, 0, 954, 958}, y={"autTunSig.y"}, range={0.0, 10000.0, -1.0, 2.0}, grid=true, subPlot=103, colors={{28,108,200}}, timeUnit="s");
+createPlot(id=1, position={58, 0, 954, 958}, y={"PIDWitTun.inTunPro.y"}, range={0.0, 10000.0, -1.0, 2.0}, grid=true, subPlot=104, colors={{28,108,200}}, timeUnit="s");
+createPlot(id=2, position={1048, 3, 697, 956}, y={"PIDWitTun.con.y"}, range={0.0, 10000.0, -1.0, 2.0}, grid=true, subPlot=101, colors={{28,108,200}}, timeUnit="s");
+createPlot(id=2, position={1048, 3, 697, 956}, y={"PIDWitTun.con.k"}, range={0.0, 10000.0, 0.0, 1.5}, grid=true, subPlot=102, colors={{28,108,200}}, timeUnit="s");
+createPlot(id=2, position={1048, 3, 697, 956}, y={"PIDWitTun.con.Ti"}, range={0.0, 10000.0, -50.0, 100.0}, grid=true, subPlot=103, colors={{28,108,200}}, timeUnit="s", displayUnits={"s"});
+createPlot(id=2, position={1048, 3, 697, 956}, y={"PIDWitTun.con.Td"}, range={0.0, 10000.0, 0.0, 3.0}, grid=true, subPlot=104, colors={{28,108,200}}, timeUnit="s", displayUnits={"s"});
\ No newline at end of file
diff --git a/Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/Validation/DirectActingPIWithFirstOrderAMIGO.mos b/Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/Validation/DirectActingPIWithFirstOrderAMIGO.mos
new file mode 100644
index 00000000000..fe04563088a
--- /dev/null
+++ b/Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/Validation/DirectActingPIWithFirstOrderAMIGO.mos
@@ -0,0 +1,8 @@
+simulateModel("Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Validation.DirectActingPIWithFirstOrderAMIGO", stopTime=10000, method="Cvode", tolerance=1e-06, resultFile="DirectActingPIWithFirstOrderAMIGO");
+createPlot(id=1, position={58, 0, 954, 958}, y={"PI.u_s", "PI.u_m"}, range={0.0, 10000.0, -1.0, 2.0}, grid=true, subPlot=101, colors={{28,108,200}, {238,46,47}}, timeUnit="s");
+createPlot(id=1, position={58, 0, 954, 958}, y={"PIWitTun.u_s", "PIWitTun.u_m"}, range={0.0, 10000.0, -1.0, 2.0}, grid=true, subPlot=102, colors={{28,108,200}, {238,46,47}}, timeUnit="s");
+createPlot(id=1, position={58, 0, 954, 958}, y={"autTunSig.y"}, range={0.0, 10000.0, -1.0, 2.0}, grid=true, subPlot=103, colors={{28,108,200}}, timeUnit="s");
+createPlot(id=1, position={58, 0, 954, 958}, y={"PIWitTun.inTunPro.y"}, range={0.0, 10000.0, -1.0, 2.0}, grid=true, subPlot=104, colors={{28,108,200}}, timeUnit="s");
+createPlot(id=2, position={1048, 3, 697, 956}, y={"PIWitTun.con.y"}, range={0.0, 10000.0, -1.0, 2.0}, grid=true, subPlot=101, colors={{28,108,200}}, timeUnit="s");
+createPlot(id=2, position={1048, 3, 697, 956}, y={"PIWitTun.con.k"}, range={0.0, 10000.0, 0.0, 1.5}, grid=true, subPlot=102, colors={{28,108,200}}, timeUnit="s");
+createPlot(id=2, position={1048, 3, 697, 956}, y={"PIWitTun.con.Ti"}, range={0.0, 10000.0, -50.0, 100.0}, grid=true, subPlot=103, colors={{28,108,200}}, timeUnit="s", displayUnits={"s"});
\ No newline at end of file
diff --git a/Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/Validation/ReverseActingPIDWithFirstOrderAMIGO.mos b/Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/Validation/ReverseActingPIDWithFirstOrderAMIGO.mos
new file mode 100644
index 00000000000..70e7fe90b18
--- /dev/null
+++ b/Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/Validation/ReverseActingPIDWithFirstOrderAMIGO.mos
@@ -0,0 +1,9 @@
+simulateModel("Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Validation.ReverseActingPIDWithFirstOrderAMIGO", stopTime=10000, method="Cvode", tolerance=1e-06, resultFile="ReverseActingPIDWithFirstOrderAMIGO");
+createPlot(id=1, position={58, 0, 954, 958}, y={"PID.u_s", "PID.u_m"}, range={0.0, 10000.0, -1.0, 2.0}, grid=true, subPlot=101, colors={{28,108,200}, {238,46,47}}, timeUnit="s");
+createPlot(id=1, position={58, 0, 954, 958}, y={"PIDWitTun.u_s", "PIDWitTun.u_m"}, range={0.0, 10000.0, -1.0, 2.0}, grid=true, subPlot=102, colors={{28,108,200}, {238,46,47}}, timeUnit="s");
+createPlot(id=1, position={58, 0, 954, 958}, y={"autTunSig.y"}, range={0.0, 10000.0, -1.0, 2.0}, grid=true, subPlot=103, colors={{28,108,200}}, timeUnit="s");
+createPlot(id=1, position={58, 0, 954, 958}, y={"PIDWitTun.inTunPro.y"}, range={0.0, 10000.0, -1.0, 2.0}, grid=true, subPlot=104, colors={{28,108,200}}, timeUnit="s");
+createPlot(id=2, position={1048, 3, 697, 956}, y={"PIDWitTun.con.y"}, range={0.0, 10000.0, -1.0, 2.0}, grid=true, subPlot=101, colors={{28,108,200}}, timeUnit="s");
+createPlot(id=2, position={1048, 3, 697, 956}, y={"PIDWitTun.con.k"}, range={0.0, 10000.0, 0.0, 1.5}, grid=true, subPlot=102, colors={{28,108,200}}, timeUnit="s");
+createPlot(id=2, position={1048, 3, 697, 956}, y={"PIDWitTun.con.Ti"}, range={0.0, 10000.0, -50.0, 100.0}, grid=true, subPlot=103, colors={{28,108,200}}, timeUnit="s", displayUnits={"s"});
+createPlot(id=2, position={1048, 3, 697, 956}, y={"PIDWitTun.con.Td"}, range={0.0, 10000.0, 0.0, 3.0}, grid=true, subPlot=104, colors={{28,108,200}}, timeUnit="s", displayUnits={"s"});
diff --git a/Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/Validation/ReverseActingPIWithFirstOrderAMIGO.mos b/Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/Validation/ReverseActingPIWithFirstOrderAMIGO.mos
new file mode 100644
index 00000000000..4e3d14af4d9
--- /dev/null
+++ b/Buildings/Resources/Scripts/Dymola/Controls/OBC/Utilities/PIDWithAutotuning/Validation/ReverseActingPIWithFirstOrderAMIGO.mos
@@ -0,0 +1,9 @@
+simulateModel("Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Validation.ReverseActingPIWithFirstOrderAMIGO", stopTime=10000, method="Cvode", tolerance=1e-06, resultFile="ReverseActingPIWithFirstOrderAMIGO");
+createPlot(id=1, position={58, 0, 954, 958}, y={"PI.u_s", "PI.u_m"}, range={0.0, 10000.0, -1.0, 2.0}, grid=true, subPlot=101, colors={{28,108,200}, {238,46,47}}, timeUnit="s");
+createPlot(id=1, position={58, 0, 954, 958}, y={"PIWitTun.u_s", "PIWitTun.u_m"}, range={0.0, 10000.0, -1.0, 2.0}, grid=true, subPlot=102, colors={{28,108,200}, {238,46,47}}, timeUnit="s");
+createPlot(id=1, position={58, 0, 954, 958}, y={"autTunSig.y"}, range={0.0, 10000.0, -1.0, 2.0}, grid=true, subPlot=103, colors={{28,108,200}}, timeUnit="s");
+createPlot(id=1, position={58, 0, 954, 958}, y={"PIWitTun.inTunPro.y"}, range={0.0, 10000.0, -1.0, 2.0}, grid=true, subPlot=104, colors={{28,108,200}}, timeUnit="s");
+createPlot(id=2, position={1048, 3, 697, 956}, y={"PIWitTun.con.y"}, range={0.0, 10000.0, -1.0, 2.0}, grid=true, subPlot=101, colors={{28,108,200}}, timeUnit="s");
+createPlot(id=2, position={1048, 3, 697, 956}, y={"PIWitTun.con.k"}, range={0.0, 10000.0, 0.0, 1.5}, grid=true, subPlot=102, colors={{28,108,200}}, timeUnit="s");
+createPlot(id=2, position={1048, 3, 697, 956}, y={"PIWitTun.con.Ti"}, range={0.0, 10000.0, -50.0, 100.0}, grid=true, subPlot=103, colors={{28,108,200}}, timeUnit="s", displayUnits={"s"});
+
diff --git a/Buildings/Resources/Scripts/Dymola/Fluid/HeatExchangers/Examples/WetCoilCounterFlowPControlAutoTuning.mos b/Buildings/Resources/Scripts/Dymola/Fluid/HeatExchangers/Examples/WetCoilCounterFlowPControlAutoTuning.mos
new file mode 100644
index 00000000000..646ddecbad6
--- /dev/null
+++ b/Buildings/Resources/Scripts/Dymola/Fluid/HeatExchangers/Examples/WetCoilCounterFlowPControlAutoTuning.mos
@@ -0,0 +1,5 @@
+simulateModel("Buildings.Fluid.HeatExchangers.Examples.WetCoilCounterFlowPControlAutoTuning", stopTime=3600, method="CVode", tolerance=1e-6, resultFile="WetCoilCounterFlowPControlAutoTuning");
+createPlot(id=4, position={11, 21, 1280, 1012}, y={"hex.m1_flow", "hex.m2_flow"}, range={0.0, 3600.0, -0.05, 0.15}, grid=true, subPlot=101, colors={{28,108,200}, {238,46,47}}, timeUnit="s", displayUnits={"kg/s", "kg/s"});
+createPlot(id=4, position={11, 21, 1280, 1012}, y={"con.u_s", "con.u_m"}, range={0.0, 3600.0, 280.0, 300.0}, grid=true, subPlot=102, colors={{28,108,200}, {238,46,47}}, timeUnit="s");
+createPlot(id=4, position={11, 21, 1280, 1012}, y={"hex.Q1_flow", "hex.Q2_flow", "hex.QLat2_flow", "hex.QSen2_flow"}, range={0.0, 3600.0, -2000.0, 2000.0}, grid=true, subPlot=103, colors={{28,108,200}, {238,46,47}, {0,140,72}, {217,67,180}}, timeUnit="s", displayUnits={"W", "W", "W", "W"});
+
diff --git a/Buildings/Resources/Scripts/OpenModelica/compareVars/Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.BaseClasses.Validation.PIDDerivativeTime.mos b/Buildings/Resources/Scripts/OpenModelica/compareVars/Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.BaseClasses.Validation.PIDDerivativeTime.mos
new file mode 100644
index 00000000000..93f2e57a4dc
--- /dev/null
+++ b/Buildings/Resources/Scripts/OpenModelica/compareVars/Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.BaseClasses.Validation.PIDDerivativeTime.mos
@@ -0,0 +1,6 @@
+compareVars :=
+  {
+    "T.y",
+    "L.y",
+    "PIDDerTim.Td"
+  };
diff --git a/Buildings/Resources/Scripts/OpenModelica/compareVars/Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.BaseClasses.Validation.PIDGain.mos b/Buildings/Resources/Scripts/OpenModelica/compareVars/Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.BaseClasses.Validation.PIDGain.mos
new file mode 100644
index 00000000000..0c289566e5d
--- /dev/null
+++ b/Buildings/Resources/Scripts/OpenModelica/compareVars/Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.BaseClasses.Validation.PIDGain.mos
@@ -0,0 +1,7 @@
+compareVars :=
+  {
+    "kp.y",
+    "T.y",
+    "L.y",
+    "PIDGai.k"
+  };
diff --git a/Buildings/Resources/Scripts/OpenModelica/compareVars/Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.BaseClasses.Validation.PIDIntegralTime.mos b/Buildings/Resources/Scripts/OpenModelica/compareVars/Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.BaseClasses.Validation.PIDIntegralTime.mos
new file mode 100644
index 00000000000..d72c9de6bb6
--- /dev/null
+++ b/Buildings/Resources/Scripts/OpenModelica/compareVars/Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.BaseClasses.Validation.PIDIntegralTime.mos
@@ -0,0 +1,6 @@
+compareVars :=
+  {
+    "T.y",
+    "L.y",
+    "PIDIntTim.Ti"
+  };
diff --git a/Buildings/Resources/Scripts/OpenModelica/compareVars/Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.BaseClasses.Validation.PIGain.mos b/Buildings/Resources/Scripts/OpenModelica/compareVars/Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.BaseClasses.Validation.PIGain.mos
new file mode 100644
index 00000000000..e40a2627179
--- /dev/null
+++ b/Buildings/Resources/Scripts/OpenModelica/compareVars/Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.BaseClasses.Validation.PIGain.mos
@@ -0,0 +1,7 @@
+compareVars :=
+  {
+    "kp.y",
+    "T.y",
+    "L.y",
+    "PIGai.k"
+  };
diff --git a/Buildings/Resources/Scripts/OpenModelica/compareVars/Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.BaseClasses.Validation.PIIntegralTime.mos b/Buildings/Resources/Scripts/OpenModelica/compareVars/Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.BaseClasses.Validation.PIIntegralTime.mos
new file mode 100644
index 00000000000..2cb6ac67412
--- /dev/null
+++ b/Buildings/Resources/Scripts/OpenModelica/compareVars/Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.BaseClasses.Validation.PIIntegralTime.mos
@@ -0,0 +1,6 @@
+compareVars :=
+  {
+    "T.y",
+    "L.y",
+    "PIIntTim.Ti"
+  };
diff --git a/Buildings/Resources/Scripts/OpenModelica/compareVars/Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.Validation.PI.mos b/Buildings/Resources/Scripts/OpenModelica/compareVars/Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.Validation.PI.mos
new file mode 100644
index 00000000000..77a1355d2ae
--- /dev/null
+++ b/Buildings/Resources/Scripts/OpenModelica/compareVars/Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.Validation.PI.mos
@@ -0,0 +1,8 @@
+compareVars :=
+  {
+    "kp.y",
+    "T.y",
+    "L.y",
+    "PI.k",
+    "PI.Ti"
+  };
diff --git a/Buildings/Resources/Scripts/OpenModelica/compareVars/Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.Validation.PID.mos b/Buildings/Resources/Scripts/OpenModelica/compareVars/Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.Validation.PID.mos
new file mode 100644
index 00000000000..740f43f9e5f
--- /dev/null
+++ b/Buildings/Resources/Scripts/OpenModelica/compareVars/Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.Validation.PID.mos
@@ -0,0 +1,9 @@
+compareVars :=
+  {
+    "kp.y",
+    "T.y",
+    "L.y",
+    "PID.k",
+    "PID.Ti",
+    "PID.Td"
+  };
diff --git a/Buildings/Resources/Scripts/OpenModelica/compareVars/Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.BaseClasses.Validation.HalfPeriodRatio.mos b/Buildings/Resources/Scripts/OpenModelica/compareVars/Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.BaseClasses.Validation.HalfPeriodRatio.mos
new file mode 100644
index 00000000000..562887bd9dd
--- /dev/null
+++ b/Buildings/Resources/Scripts/OpenModelica/compareVars/Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.BaseClasses.Validation.HalfPeriodRatio.mos
@@ -0,0 +1,6 @@
+compareVars :=
+  {
+    "tOn.y",
+    "tOff.y",
+    "halPerRat.rho"
+  };
diff --git a/Buildings/Resources/Scripts/OpenModelica/compareVars/Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.BaseClasses.Validation.NormalizedTimeDelay.mos b/Buildings/Resources/Scripts/OpenModelica/compareVars/Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.BaseClasses.Validation.NormalizedTimeDelay.mos
new file mode 100644
index 00000000000..2fd11ea858d
--- /dev/null
+++ b/Buildings/Resources/Scripts/OpenModelica/compareVars/Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.BaseClasses.Validation.NormalizedTimeDelay.mos
@@ -0,0 +1,5 @@
+compareVars :=
+  {
+    "rho.y",
+    "norTimDel.tau"
+  };
diff --git a/Buildings/Resources/Scripts/OpenModelica/compareVars/Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.BaseClasses.Validation.OnOffPeriod.mos b/Buildings/Resources/Scripts/OpenModelica/compareVars/Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.BaseClasses.Validation.OnOffPeriod.mos
new file mode 100644
index 00000000000..359ef28523a
--- /dev/null
+++ b/Buildings/Resources/Scripts/OpenModelica/compareVars/Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.BaseClasses.Validation.OnOffPeriod.mos
@@ -0,0 +1,7 @@
+compareVars :=
+  {
+    "relSwi.y",
+    "retSig.y",
+    "onOffPer.tOn",
+    "onOffPer.tOff"
+  };
diff --git a/Buildings/Resources/Scripts/OpenModelica/compareVars/Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.BaseClasses.Validation.SamplerWithResetThreshold.mos b/Buildings/Resources/Scripts/OpenModelica/compareVars/Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.BaseClasses.Validation.SamplerWithResetThreshold.mos
new file mode 100644
index 00000000000..8f4b043a072
--- /dev/null
+++ b/Buildings/Resources/Scripts/OpenModelica/compareVars/Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.BaseClasses.Validation.SamplerWithResetThreshold.mos
@@ -0,0 +1,6 @@
+compareVars :=
+  {
+    "u.y",
+    "resSig.y",
+    "sam.y"
+  };
diff --git a/Buildings/Resources/Scripts/OpenModelica/compareVars/Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.BaseClasses.Validation.TuningMonitor.mos b/Buildings/Resources/Scripts/OpenModelica/compareVars/Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.BaseClasses.Validation.TuningMonitor.mos
new file mode 100644
index 00000000000..43549dd6882
--- /dev/null
+++ b/Buildings/Resources/Scripts/OpenModelica/compareVars/Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.BaseClasses.Validation.TuningMonitor.mos
@@ -0,0 +1,7 @@
+compareVars :=
+  {
+    "tOn.y",
+    "tOff.y",
+    "tunSta.y",
+    "tunEnd.y"
+  };
diff --git a/Buildings/Resources/Scripts/OpenModelica/compareVars/Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.Validation.Controller.mos b/Buildings/Resources/Scripts/OpenModelica/compareVars/Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.Validation.Controller.mos
new file mode 100644
index 00000000000..cc9780d497a
--- /dev/null
+++ b/Buildings/Resources/Scripts/OpenModelica/compareVars/Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.Validation.Controller.mos
@@ -0,0 +1,8 @@
+compareVars :=
+  {
+    "relCon.u_m",
+    "enaSig.y",
+    "relCon.y",
+    "relCon.yDif",
+    "relCon.yOn"
+  };
diff --git a/Buildings/Resources/Scripts/OpenModelica/compareVars/Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.Validation.ResponseProcess.mos b/Buildings/Resources/Scripts/OpenModelica/compareVars/Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.Validation.ResponseProcess.mos
new file mode 100644
index 00000000000..e0bb8fa3ee3
--- /dev/null
+++ b/Buildings/Resources/Scripts/OpenModelica/compareVars/Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.Validation.ResponseProcess.mos
@@ -0,0 +1,10 @@
+compareVars :=
+  {
+    "relSwi.y",
+    "resPro.tOn",
+    "resPro.tOff",
+    "tunSta.y",
+    "tunEnd.y",
+    "resSig.y",
+    "resPro.tau"
+  };
diff --git a/Buildings/Resources/Scripts/OpenModelica/compareVars/Buildings.Controls.OBC.Utilities.PIDWithAutotuning.SystemIdentification.FirstOrderTimedelayed.BaseClasses.Validation.Gain.mos b/Buildings/Resources/Scripts/OpenModelica/compareVars/Buildings.Controls.OBC.Utilities.PIDWithAutotuning.SystemIdentification.FirstOrderTimedelayed.BaseClasses.Validation.Gain.mos
new file mode 100644
index 00000000000..dee5840e998
--- /dev/null
+++ b/Buildings/Resources/Scripts/OpenModelica/compareVars/Buildings.Controls.OBC.Utilities.PIDWithAutotuning.SystemIdentification.FirstOrderTimedelayed.BaseClasses.Validation.Gain.mos
@@ -0,0 +1,8 @@
+compareVars :=
+  {
+    "u.y",
+    "tOn.y",
+    "tOff.y",
+    "tunSta.y",
+    "gai.k"
+  };
diff --git a/Buildings/Resources/Scripts/OpenModelica/compareVars/Buildings.Controls.OBC.Utilities.PIDWithAutotuning.SystemIdentification.FirstOrderTimedelayed.BaseClasses.Validation.TimeConstantDelay.mos b/Buildings/Resources/Scripts/OpenModelica/compareVars/Buildings.Controls.OBC.Utilities.PIDWithAutotuning.SystemIdentification.FirstOrderTimedelayed.BaseClasses.Validation.TimeConstantDelay.mos
new file mode 100644
index 00000000000..17a27021194
--- /dev/null
+++ b/Buildings/Resources/Scripts/OpenModelica/compareVars/Buildings.Controls.OBC.Utilities.PIDWithAutotuning.SystemIdentification.FirstOrderTimedelayed.BaseClasses.Validation.TimeConstantDelay.mos
@@ -0,0 +1,8 @@
+compareVars :=
+  {
+    "tOn.y",
+    "k.y",
+    "ratioLT.y",
+    "timConDel.T",
+    "timConDel.L"
+  };
diff --git a/Buildings/Resources/Scripts/OpenModelica/compareVars/Buildings.Controls.OBC.Utilities.PIDWithAutotuning.SystemIdentification.FirstOrderTimedelayed.Validation.ControlProcessModel.mos b/Buildings/Resources/Scripts/OpenModelica/compareVars/Buildings.Controls.OBC.Utilities.PIDWithAutotuning.SystemIdentification.FirstOrderTimedelayed.Validation.ControlProcessModel.mos
new file mode 100644
index 00000000000..9598baced42
--- /dev/null
+++ b/Buildings/Resources/Scripts/OpenModelica/compareVars/Buildings.Controls.OBC.Utilities.PIDWithAutotuning.SystemIdentification.FirstOrderTimedelayed.Validation.ControlProcessModel.mos
@@ -0,0 +1,12 @@
+compareVars :=
+  {
+    "tunSta.y",
+    "tunEnd.y",
+    "u.y",
+    "ratioLT.y",
+    "tOn.y",
+    "tOff.y",
+    "conProMod.k",
+    "conProMod.T",
+    "conProMod.L"
+  };
diff --git a/Buildings/Resources/Scripts/OpenModelica/compareVars/Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Validation.DirectActingPIDWithFirstOrderAMIGO.mos b/Buildings/Resources/Scripts/OpenModelica/compareVars/Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Validation.DirectActingPIDWithFirstOrderAMIGO.mos
new file mode 100644
index 00000000000..5f591c78f3b
--- /dev/null
+++ b/Buildings/Resources/Scripts/OpenModelica/compareVars/Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Validation.DirectActingPIDWithFirstOrderAMIGO.mos
@@ -0,0 +1,13 @@
+compareVars :=
+  {
+    "PID.u_s",
+    "PID.u_m",
+    "PIDWitTun.u_s",
+    "PIDWitTun.u_m",
+    "autTunSig.y",
+    "PIDWitTun.inTunPro.y",
+    "PIDWitTun.con.y",
+    "PIDWitTun.con.k",
+    "PIDWitTun.con.Ti",
+    "PIDWitTun.con.Td"
+  };
diff --git a/Buildings/Resources/Scripts/OpenModelica/compareVars/Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Validation.DirectActingPIWithFirstOrderAMIGO.mos b/Buildings/Resources/Scripts/OpenModelica/compareVars/Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Validation.DirectActingPIWithFirstOrderAMIGO.mos
new file mode 100644
index 00000000000..30175c0011f
--- /dev/null
+++ b/Buildings/Resources/Scripts/OpenModelica/compareVars/Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Validation.DirectActingPIWithFirstOrderAMIGO.mos
@@ -0,0 +1,12 @@
+compareVars :=
+  {
+    "PI.u_s",
+    "PI.u_m",
+    "PIWitTun.u_s",
+    "PIWitTun.u_m",
+    "autTunSig.y",
+    "PIWitTun.inTunPro.y",
+    "PIWitTun.con.y",
+    "PIWitTun.con.k",
+    "PIWitTun.con.Ti"
+  };
diff --git a/Buildings/Resources/Scripts/OpenModelica/compareVars/Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Validation.ReverseActingPIDWithFirstOrderAMIGO.mos b/Buildings/Resources/Scripts/OpenModelica/compareVars/Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Validation.ReverseActingPIDWithFirstOrderAMIGO.mos
new file mode 100644
index 00000000000..5f591c78f3b
--- /dev/null
+++ b/Buildings/Resources/Scripts/OpenModelica/compareVars/Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Validation.ReverseActingPIDWithFirstOrderAMIGO.mos
@@ -0,0 +1,13 @@
+compareVars :=
+  {
+    "PID.u_s",
+    "PID.u_m",
+    "PIDWitTun.u_s",
+    "PIDWitTun.u_m",
+    "autTunSig.y",
+    "PIDWitTun.inTunPro.y",
+    "PIDWitTun.con.y",
+    "PIDWitTun.con.k",
+    "PIDWitTun.con.Ti",
+    "PIDWitTun.con.Td"
+  };
diff --git a/Buildings/Resources/Scripts/OpenModelica/compareVars/Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Validation.ReverseActingPIWithFirstOrderAMIGO.mos b/Buildings/Resources/Scripts/OpenModelica/compareVars/Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Validation.ReverseActingPIWithFirstOrderAMIGO.mos
new file mode 100644
index 00000000000..30175c0011f
--- /dev/null
+++ b/Buildings/Resources/Scripts/OpenModelica/compareVars/Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Validation.ReverseActingPIWithFirstOrderAMIGO.mos
@@ -0,0 +1,12 @@
+compareVars :=
+  {
+    "PI.u_s",
+    "PI.u_m",
+    "PIWitTun.u_s",
+    "PIWitTun.u_m",
+    "autTunSig.y",
+    "PIWitTun.inTunPro.y",
+    "PIWitTun.con.y",
+    "PIWitTun.con.k",
+    "PIWitTun.con.Ti"
+  };
diff --git a/Buildings/Resources/Scripts/OpenModelica/compareVars/Buildings.Fluid.HeatExchangers.Examples.WetCoilCounterFlowPControlAutoTuning.mos b/Buildings/Resources/Scripts/OpenModelica/compareVars/Buildings.Fluid.HeatExchangers.Examples.WetCoilCounterFlowPControlAutoTuning.mos
new file mode 100644
index 00000000000..67fc0e54457
--- /dev/null
+++ b/Buildings/Resources/Scripts/OpenModelica/compareVars/Buildings.Fluid.HeatExchangers.Examples.WetCoilCounterFlowPControlAutoTuning.mos
@@ -0,0 +1,11 @@
+compareVars :=
+  {
+    "hex.m1_flow",
+    "hex.m2_flow",
+    "con.u_s",
+    "con.u_m",
+    "hex.Q1_flow",
+    "hex.Q2_flow",
+    "hex.QLat2_flow",
+    "hex.QSen2_flow"
+  };
diff --git a/Buildings/UsersGuide/ReleaseNotes/Version_12_0_0.mo b/Buildings/UsersGuide/ReleaseNotes/Version_12_0_0.mo
index 7b43b152c30..92aa6e95339 100644
--- a/Buildings/UsersGuide/ReleaseNotes/Version_12_0_0.mo
+++ b/Buildings/UsersGuide/ReleaseNotes/Version_12_0_0.mo
@@ -30,6 +30,15 @@ The following <b style=\"color:blue\">new components</b> have been added
 to <b style=\"color:blue\">existing</b> libraries:
 </p>
 <table class=\"releaseTable\" summary=\"summary\" border=\"1\" cellspacing=\"0\" cellpadding=\"2\" style=\"border-collapse:collapse;\">
+<tr><td colspan=\"2\"><b>Buildings.Controls.OBC</b>
+    </td>
+</tr>
+<tr><td valign=\"top\">Buildings.Controls.OBC.Utilities.PIDWithAutotuning
+    </td>
+    <td valign=\"top\">Package that contains components for the PID controller that can
+                       autotune the control gain and time constants.
+    </td>
+</tr>
 <tr><td colspan=\"2\"><b>Buildings.Templates</b>
     </td>
 </tr>

Enumeration	Description
`PI`	+Controller with proportional and integral terms. +
`PID`	+Controller with proportional, integral and derivative terms. +
Buildings.Controls.OBC +
Buildings.Controls.OBC.Utilities.PIDWithAutotuning +	Package that contains components for the PID controller that can + autotune the control gain and time constants. +
Buildings.Templates