Discrete-time internal model control with disturbance and vibration rejection

This paper presents a novel design methodology for discrete-time internal model control (IMC) used to compute a disturbance filter. The proposed method employs a generalized algorithm for disturbance rejection and for process dynamics compensation. In IMC, the controller is designed based on a model of the process, while ensuring a desired closed loop performance trajectory (for setpoint tracking). However, in some situations, for example poorly damped systems, the open loop poles of the process affect the closed loop disturbance rejection dynamics. The novel design methodology presented is able to compensate both process dynamics and input disturbances. The method is validated both in simulations and in experimental tests on a poorly damped mass–spring–damper testbench.

[1]  Brian D. O. Anderson,et al.  I design to generalize internal model control , 2006, Autom..

[2]  Evanghelos Zafiriou,et al.  Robust process control , 1987 .

[3]  Richard D. Braatz,et al.  Improved Filter Design in Internal Model Control , 1996 .

[4]  Ramon Vilanova,et al.  IMC-like analytical H∞ design with S/SP mixed sensitivity consideration: Utility in PID tuning guidance , 2011 .

[5]  Weng Khuen Ho,et al.  A comparison of two design methods for PID controllers , 1994 .

[6]  I-Lung Chien,et al.  Consider IMC Tuning to Improve Controller Performance , 1990 .

[7]  E. S. Meadows,et al.  Feedback Through Steady-State Target Optimization for Nonlinear Model Predictive Control , 1998 .

[8]  C. J. King,et al.  Spray drying food liquids and the retention of volatiles. , 1990 .

[9]  Brian D. O. Anderson,et al.  New filters for internal model control design , 1994 .

[10]  Ian Postlethwaite,et al.  Multivariable Feedback Control: Analysis and Design , 1996 .

[11]  Ramon Vilanova,et al.  Generalized Internal Model Control for Balancing Input/Output Disturbance Response , 2011 .

[12]  Jan M. Maciejowski,et al.  Predictive control : with constraints , 2002 .

[13]  M. Morari,et al.  Internal model control: PID controller design , 1986 .

[14]  R. De Keyser,et al.  The disturbance model in model based predictive control , 2003, Proceedings of 2003 IEEE Conference on Control Applications, 2003. CCA 2003..

[15]  S. Joe Qin,et al.  A survey of industrial model predictive control technology , 2003 .

[16]  Carlos E. Garcia,et al.  Internal model control. A unifying review and some new results , 1982 .

[17]  蒋沅.  Rejection of nonharmonic disturbances in nonlinear systems via the internal model approach , 2012 .

[18]  Sunwon Park,et al.  PID controller tuning for integrating and unstable processes with time delay , 2000 .

[19]  Robin De Keyser,et al.  FRtool: A frequency response tool for CACSD in Matlab® , 2006, 2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control.

[20]  Ramon Vilanova,et al.  Realisation of two-degrees-of-freedom compensators , 1997 .

[21]  Robain De Keyser.  Model based predictive control , 1991 .

[22]  B. Bequette,et al.  Process Control: Modeling, Design and Simulation , 2003 .