Robust model reference controller
First Claim
1. A method of controlling a multi-input multi-output process of the type which may be modelled imperfectly and which includes a controller with a filter and a reference model of the process, the improvement comprising the steps of:
- partitioning the controller into a pre-compensator and a post-compensator;
applying input signals of the controller to said pre-compensator;
generating dynamically decoupled signals;
filtering said decoupled signals by the filter;
applying the filtered signals from the filter to said post-compensator; and
generating manipulated variables to the process.
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Abstract
A robust model reference controller which supplies manipulated variables for controlling a multi-input multi-output process of the type which may not be modelled perfectly consists of a pre-compensator, a diagonal filter, and a post-compensator. The input signals to the robust model reference controller are first projected dynamically into decoupled signals by the pre-compensator. The diagonal filters then filter the decoupled signals individually. The filtered signals are projected back dynamically to the manipulated variables for the controlled process. The filter can easily be tuned to attain the optimal response of the closed-loop system with a given bound of model uncertainty.
61 Citations
14 Claims
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1. A method of controlling a multi-input multi-output process of the type which may be modelled imperfectly and which includes a controller with a filter and a reference model of the process, the improvement comprising the steps of:
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partitioning the controller into a pre-compensator and a post-compensator; applying input signals of the controller to said pre-compensator; generating dynamically decoupled signals; filtering said decoupled signals by the filter; applying the filtered signals from the filter to said post-compensator; and generating manipulated variables to the process. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. An apparatus for controlling a multi-input multi-output process in which the process may be modelled imperfectly and the apparatus is of the type that includes a controller, the improvement comprising:
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said controller comprising a pre-compensator for generating dynamically decoupled signals; means for applying the input signals of said controller to said pre-compensator; filter means for filtering said decoupled signals to produce filtered signals; and said controller further comprising a post-compensator for receiving said filtered signals and for generating manipulated variables based on said filtered signals and for feeding said variables to said process. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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Specification