Robust control of a multivariable experimental four-tank system
Robust control of a multivariable experimental four-tank system
复制标题
DOI：
10.1021/ie000381p
复制
发表时间：
2001-04-18
影响因子：
4.2
通讯作者：
Doyle, FJ
中科院分区：
文献类型：
--
作者：
Vadigepalli, R;Gatzke, EP;Doyle, FJ
针对实验室中四个水箱的多变量过程进行建模和鲁棒控制。目前研究的目的是设计和实施各种控制算法，并提出相应的鲁棒控制分析的多变量实验室四槽过程。所考虑的控制方法是（i）分散PI控制，（ii）“内-外”因子分解为基础的多变量内模控制（IMC），和（iii）μ-分析为基础的H-∞控制。三种控制算法进行了比较分析，使用标准的鲁棒性措施的稳定性和性能。在四容系统上实现了该算法，并在参考跟踪和干扰抑制情况下比较了算法的性能。使用实验数据，过程动态和扰动效应建模。输入输出可控性分析进行表征可实现的性能。一个集总的非结构化的不确定性描述是用来表示在系统中的变化。设计的三个控制器在四容水箱实验装置上使用Bailey控制系统，并使用MATLAB和Freelance软件接口实现。控制器的主持稳定和可接受的性能参考跟踪和干扰抑制实验。多变量内模控制器和H ∞控制器的性能相似，并提供了更好的性能比分散PI控制。
A multivariable laboratory process of four interconnected water tanks is considered for modeling and robust control. The objective of the current study is to design and implement a variety of control algorithms and present corresponding robust control analysis for a multivariable laboratory four-tank process. The control methodologies considered are (i) decentralized PI control, (ii) "inner-outer" factorization-based multivariable internal model control (IMC), and (iii) mu -analysis-based H-infinity control. The three control algorithms are comparatively analyzed using standard robustness measures for stability and performance. The algorithms are implemented on the four-tank system, and the performance is compared in reference tracking and disturbance rejection cases. Using experimental data, the process dynamics and disturbance effects are modeled. Input-output controllability analysis is performed to characterize achievable performance. A lumped unstructured uncertainty description is used to represent the variations in the system. The three controllers designed are implemented on the four-tank experimental apparatus using a Bailey control system is with a MATLAB and Freelance software interface. The controllers are shown to preside stable and acceptable performance for reference tracking and, disturbance rejection experiments. The multivariable IMC and H-infinity controllers performed similarly and provided better performance than the decentralized PI control.