Inverted decoupling internal model control for square stable multivariable time delay systems

Abstract

This paper presents a new tuning methodology of the main controller of an internal model control structure for n×n stable multivariable processes with multiple time delays based on the centralized inverted decoupling structure. Independently of the system size, very simple general expressions for the controller elements are obtained. The realizability conditions are provided and the specification of the closed-loop requirements is explained. A diagonal filter is added to the proposed control structure in order to improve the disturbance rejection without modifying the nominal set-point response. The effectiveness of the method is illustrated through different simulation examples in comparison with other works.

Decoupling Controller with Disturbance Observer for LTI MIMO Systems

“…The performance indexes are shown in Table . Notice that from Table , the proposed method shares small ST IAE and DR IAE than the method in . Also, Fig.…”

“…shows that the proposed method has similar performance in set‐point tracking, and a much better disturbance rejection ability than the method in . Moreover, the ID‐K and IDIMC controller in need to design the two controllers separately to achieve the set‐point tracking effect. The proposed method can achieve the similar set point tracking effect by Q(s) only, which greatly reduces the complexity of system design.…”

Model based multivariable control scheme in a reset configuration for stable multivariable systems

“…The multivariable controllers can be designed straight away using methods like the direct synthesis method, centralized controllers, internal model control (IMC) method, gain and phase margin method, and equivalent transfer functions (ETF) theory . The direct synthesis of multivariable controller and IMC implementation requires the inverse of the process model, which is difficult to obtain.…”

Smith predictor with inverted decoupling for square multivariable time delay systems

“…Other authors propose more advanced structures such as multivariable internal model control (IMC) schemes (Garrido, Vázquez, & Morilla, 2014a;He, Cai, & Wu, 2006; 2 J. Garrido et al Wang et al, 2002), or extensions of the SP to the multivariable case using a similar scheme to that of Figure 1, where G(s) is the plant, G n (s) is the nominal model of the plant, G o (s) is the fast model of the process and C(s) is the primary controller.…”

“…In this work, further research was performed extending the method for n × n processes. The development is similar to that performed in Garrido et al (2014a), where the IMC approach and the inverted decoupling are applied to sable processes. This work gives some results that were not analysed in the previous work, since it considers stable and unstable plants with multiple delays and studies the tuning of the primary controller of the proposed structure that has an important practical appeal.…”