Limits of control performance: a model-based approach

基本控制已经成熟到许多先进的控制算法现在是大多数集散控制系统的标准产品。对于许多关键回路，人们希望在给定特定类型的控制策略的情况下获得最高水平的控制性能，例如比例、积分和微分(PID)或基于模型的预测控制(MPC)。这种对控制性能的基本限制是由于特定的过程、执行器和传感器的特性，并且可以用Bode关于灵敏度和互补灵敏度函数的积分定理的界限来表示。了解这些类型的因素及其对“设计良好的”控制器性能的影响是重要的因素，如果已知过程模型，则最容易描述这些因素。

Basic control has matured to the point where many advanced control algorithms are now standard products in most DCS systems. For many critical loops it is desired to obtain the highest level of control performance given a specific type of control strategy, e.g. Proportional, Integral and Derivative (PID) or Model-based Predictive Control (MPC). Such fundamental limits to control performance are due to specific process, actuator and sensor characteristics and can be expressed in terms of the bounds due to Bode's integral theorem on the sensitivity and complementary sensitivity functions. An understanding of these types of factors and their impact on the performance that can be attained with a 'well designed' controller are important factors and can most easily be described if the process model is known.