MIMO Smith predictor：Global and structured robust

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1、Availableonlineatwww.sciencedirect.comJournalofProcessControl19(2009)163–177www.elsevier.com/locate/jprocontMIMOSmithpredictor:Globalandstructuredrobustperformanceanalysisb,*aaRicardoS.Sa´nchez-Pen˜a,YolandaBolea,VicencßPuigaSistemasAvanzadosdeControl,UniversitatPolite`cnicadeCatalunya(UPC),ESA

2、II,Terrassa,Barcelona,SpainbInstitucio´CatalanadeRecercaiEstudisAvancßats,Barcelona,SpainReceived30December2006;receivedinrevisedform4December2007;accepted4December2007AbstractThepurposeofthisworkistoextendtheanalysisoftheSmithpredictorstructuretomultipleinputmultipleoutput(MIMO)systemswithunce

3、rtainmultipledelays.ThisisappliedtothesetofmodelsthatcanbefactorizedintoarationalMIMOmodelinserieswithleft/rightdiagonal(multiple)delaymatrices.Necessaryandsufficientconditionsontheplant’smodeltoachievethisfactorizationareproved.Thisfactorizedstructureisinstrumentalforthestructuredrobustnessanaly

4、sisandappliestomultiplepoolopenflowcanals.Nominalandrobustperformanceandstabilityareanalyzedforthecaseofplantswithmultipleuncertaindelaysfortwodifferentuncertaintystructures:globaldynamicandstructuredparametric.Thefirstuncertaintystructurecouldalsoaccommodatethedynamicuncertaintyoftheplant’sration

5、alpartaswell.Thisanalysisisappliedtoacontrollerdesignedforatwo-poolcanalsystem.Ó2008ElsevierLtd.Allrightsreserved.Keywords:Smithpredictor;Robustperformance;Dynamicuncertainty;Parametricuncertainty;Multipleuncertaindelays1.IntroductionhavebeenseveralpartiallysuccessfulattemptstogeneralizetheSmit

6、hpredictorforthecontrolofMIMOsystems,allTimedelayisafundamentalcharacteristicofmanymul-usingthestructureinFig.1.In[3,4],itwasassumedthattivariableprocessesinpractice.Multipletimedelaysexist-alldelaysineachinput–outputchannelwereequal.In[5]inginindividualloopstendtodeterioratedecouplingadelayisa

7、ssociatedwitheachsensor,i.e.equaldelaysinregulation.Awellknowncontrolschemefortime-delayeachrowoftheplant.OneofthemajorworksinthisareasystemsistheSmithpredictor.Itisbasedonintroducingare[6–9],whichgeneralizetheresultsin[1,3,5]tode