model_based_control

model_based_control - Model-Based Controller Design 1....

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Unformatted text preview: Model-Based Controller Design 1. Introduction 2. Direct synthesis method 3. Internal model control (IMC) 4. IMC derived PID tuning rules 5. Simulink example Model-Based Control PID controller tuning Restrict controller to PID form Seek best tuning parameters Can be perform with FOPTD model if available Model-based controller design Controller is not restricted to PID form Requires a process model that is used to determine the controller form as well as the tuning parameters Not restricted to FOPTD models Makes full use of available model Generates PID controllers for some model types Direct Synthesis Method Closed-loop transfer function for setpoint changes Simplification of CLTF p v c m p v c m sp G G G G G G G K Y Y + = 1 c c sp p v m m m GG GG Y Y G G K G K G + = = 1 Control Objective Rearrange CLTF Desired setpoint response G d is the desired CLTF The controller G c depends explicitly on the inverse of the process model G The equation for G c is known as the control law sp sp c c c sp Y Y Y Y G G GG GG Y Y- = + = 1 1 1 d d c d d sp sp G G G G G Y Y Y Y- = = 1 1 Desired Closed-Loop Transfer Function The desired CLTF G d is specified such that: The resulting G c has a single tuning parameter with an easily understood effect on closed-loop stability and performance G c is implementable does not require prediction and has the appropriate properness Properness If n >=...
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model_based_control - Model-Based Controller Design 1....

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