Selected Topics on Constrained and Nonlinear Control: Workbook

1.1 Anti-Windup: Control of a Distillation Column with Input Constraints......Page 16
1.1.2 Some Background Material on Anti-windup......Page 17
1.1.3 Decoupling and Input Constraints......Page 24
1.1.4 The Plant Model used in the Assignment......Page 25
1.1.5 Assignment......Page 26
1.1.6 Solution......Page 27
1.1.7 Simulations......Page 30
1.1.8 Anti-windup......Page 34
1.1.9 Matlab Code......Page 37
1.2.1 Introduction to Selective Control......Page 42
1.2.2 The Control Problem in the Assignment......Page 44
1.2.4 Solution......Page 45
1.3 Stiction Detection......Page 49
1.3.1 Assignment......Page 50
1.3.2 Solution......Page 51
1.3.3 Conclusions......Page 59
1.4 Controller Performance Monitoring using the Harris Index......Page 60
1.4.2 Solution......Page 61
References......Page 63
2.1 Introduction......Page 68
2.2.2 Cost Function......Page 69
2.2.5 Expected Set of Disturbances and Noise......Page 70
2.2.8 Comments on the Problem......Page 71
2.3.2 Expression for J J J J around u u u uopt(d d d d)......Page 72
2.3.4 Optimal Sensitivities......Page 73
2.4.2 Loss for Given H H H H, Disturbance and Noise (Analysis)......Page 74
2.4.4 Loss Method for Finding Optimal H H H H......Page 75
2.5 Reformulation of Loss Method to Convex Problem and Explicit Solution......Page 78
2.6 Structural Constraints on H H H H......Page 80
2.7 Some Special Cases: Nullspace Method and Maximum Gain Rule......Page 81
2.7.1 No Measurement Noise: Nullspace Method (``full H H H H'')......Page 82
2.7.3 An Approximate Analysis Method for the General Case: ``Maximum Gain Rule''......Page 83
2.8 Indirect Control and Estimation of Primary Variable......Page 85
2.8.2 Indirect Control of y y y y1 Based on Estimator......Page 86
2.9.2 Data Approach 2: Loss Regression......Page 87
2.9.3 Modification: Smoothening of Data......Page 90
2.9.5 Test 1. Gluten Test Example from Harald Martens......Page 91
2.9.6 Test 2. Wheat Test Example from Bjorn Alsberg (Kalivas, 1997)......Page 92
2.9.7 Test 3. Our Own Example......Page 93
2.9.8 Comparison with Normal Least Squares......Page 94
2.10.2 Relationship to NCO tracking......Page 95
2.11 Appendix......Page 96
References......Page 101
3.2 Simple excercise......Page 106
3.3 Isothermal CSTR Case Study......Page 107
3.4.1 Component Balance......Page 108
3.4.3 Optimality Conditions......Page 109
3.4.5 The Determinant......Page 110
3.4.6 Maple Code......Page 111
4.1 Multi-Parametric Toolbox......Page 116
4.1.1 Download and Installation......Page 117
4.2.1 Polytopes......Page 118
4.2.2 Polytope Arrays......Page 121
4.2.3 Operations on Polytopes......Page 122
4.2.4 Functions Overview......Page 128
4.3 Exercises......Page 130
4.4 Solutions......Page 137
4.5 Model Predictive Control in MPT......Page 146
4.5.1 Basic Usage......Page 148
4.5.2 Closed-loop Simulations......Page 149
4.5.3 Code Generation and Deployment......Page 150
4.5.4 Advanced MPC using MPT and YALMIP......Page 151
4.5.5 Analysis......Page 156
4.5.6 System Structure sysStruct......Page 162
4.5.7 Problem Structure probStruct......Page 166
4.6 Exercises......Page 171
4.7 Solutions......Page 177
References......Page 181
Gergely Takács and Tomáš Polóni and Boris Rohal'-Ilkiv and Peter Šimončič and Marek Honek and Matúš Kopačka and Jozef Csambál and Slavomír Wojnar......Page 186
5.1 Introduction......Page 187
5.2.1 Introduction......Page 188
5.2.2 Hardware......Page 189
5.2.3 Quadratic Programming based MPC......Page 192
5.2.4 Newton-Raphson's Suboptimal MPC......Page 198
5.2.5 Multi-Parametric MPC......Page 209
5.2.6 Conclusion......Page 213
5.3.1 Introduction......Page 215
5.3.2 Hardware Description......Page 216
5.3.3 AFR Model Design......Page 221
5.3.4 Predictive Control......Page 231
5.3.5 Results of a Real-Time Application of a Predictive Control......Page 234
References......Page 237
6.1 Introduction......Page 244
6.2 Coupled Tanks – Hydraulic Plant......Page 245
6.2.1 Identification......Page 247
6.2.2 Sensors Calibration......Page 250
6.2.3 Automatic Calibration and Identification......Page 251
6.2.4 Some Recommendation for Users......Page 254
References......Page 256
7.1 Introduction......Page 262
7.2 Basic P and PI controllers......Page 263
7.2.1 PI-controller......Page 265
7.2.2 PI1 controller......Page 266
7.3 Linearization around a fixed operating point......Page 270
7.4 Exact Feedback Linearization......Page 272
7.5 PD2 controller......Page 275
References......Page 284
8.1 Introduction......Page 290
8.3.1 Server Installation......Page 291
8.4 Running the Client Server Application......Page 292
8.5 Client User Interface......Page 294
8.5.1 Settings......Page 295
8.5.2 Server IP Address and Control Buttons......Page 296
8.6 Running the Experiment......Page 298
8.7 Rules for Creation of Models in Simulink......Page 299
8.8 Conclusion......Page 301
Peter Ťapák and Mikuláš Huba......Page 306
9.1.1 Installation in Windows Operating System......Page 307
9.2 Light Channel Control......Page 313
9.2.1 Feedforward Control......Page 314
9.2.2 I0 Controller......Page 317
9.2.3 Filtered Predictive I0 Controller......Page 323
9.2.4 PI0 and FPI0 Controllers......Page 328
9.2.5 PI1 controller......Page 334
9.2.6 Filtered Smith Predictor (FSP)......Page 336
References......Page 342