Robust_process_control

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Robust_process_control
Digitized b Google ROBUST PROCESS CONTROL Manfred Morari Chemical Engineering California Institute of Technology Evanghelos Zafiriou Department of Chemical and Nuclear Engineering and Systems Research Center University of Maryland This On KJJU-15F-X20J Prentice hall Englewood Cliffs, New Jersey 07632 by Google Library of Congress Cataloging- in- Publication Data Morari. Manfred Robust process control Manfred Morari, Evanghelos Zafiriou Bibliography: p Includes index IsBN0-13-782153-0 I. Chemical process control. I Zafiriou, Evanghelos II. Title TP155.75M671989 88-22928 660281-dc19 CIP Cover design: Photo Plus Art Manufacturing buyer: Mary Ann Gloriande c 1989 by Prentice-Hall, Inc A Division of Simon Schuster Englewood Cliffs, New Jersey 07682 The fonts in this book are Computer Modern Roman, set using Leslie Lam- ports LATeX document preparation facility, with the help of Jan Owen. Some of the figures were prepared by Glenn C. Smith on an Apple macintosh with the program MacDraw TEX is a trademark of the american Mathematical Society. Macintosh and MacDraw are trademarks of Apple computer, Inc. All rights reserved. No part of this book may be reproduced, in any form or by any means, without permission in writing from the publisher Printed in the United States of America 10987654321 工SBN口-13-78己153-0 Prentice-Hall International (UK)Limited, London Prentice-Hall of Australia Pty Limited, Sydney Prentice-Hall canada inc. Toronto Prentice-Hall Hispanoamericana, SA, Mexico Prentice-Hall of india Private Limited New delhi Prentice-Hall of Japan, Inc, Tokyo Simon schuster Asia Pte. Ltd Singapore Editora Prentice-Hall do brasil, Ltda. rio de janeiro by Google n memoriam CoNSTANTIN G. ECONOMOU 1958-1986 by Google Digitized by Google Contents PREFACE NOMENCLATURE 1 INTRODUCTION 1.1 The Evolution of Control Theory 1.2 Controller Parametrization: The iMc Structure 1.3 Robustness 1.4 Scope of Book 3445 1.5 Some hints for the reader Part I: CONTINUOUS SINGLE-INPUT SINGLE-OUTPUT SYSTEMS 2 FUNDAMENTALS OF SISO FEEDBACK CONTROL 2.1 Definitions 2.2 Formulation of Control Problem 13 2.2.1 Process model 14 2.2.2 Model uncertainty Description 15 2.2.3 Input Specification 19 2.2.4 Control Obiectives 21 2.3 Internal stability 22 2.4 Nominal performance 23 2.4.1 Sensitivity and Complementary Sensitivity Function 24 2.4.2 Two-Degree-of-Freedom Controller 25 2.4.3 Asymptotic Properties of the Closed-Loop Response(Sys tem Type) 27 2.4.4 Linear Quadratic(H2-)Optimal Control 28 2.4.5 Hoo-Optimal Control 29 2.5 Robust Stability 31 2. 6 Robust Performance 34 2.6.1 H2 Performance Objective 34 2.6.2 Hoo Performance Objective 35 by Google CONTENTS 2.7 Summary 36 2.8 References 38 3 THE SISO IMC STRUCTURE FOR STABLE SYSTEMS 39 3.1 IMC Structure 39 3.2 Stability Conditions for IMc 41 3.2.1 Internal stability 41 3.22 Relationship with“ Classic Feedback” 42 3.2.3 Implementation: Classic Feedback Versus IMC 44 3.3 Performance of Imc 3. 3. 1 Sensitivity and Complementary Sensitivity Function 45 3.3.2 Two-Degree-of-Freedom Controller 46 3.3.3 Asymptotic Properties of Closed-Loop Response(System Type 3.3.4 The Concept of perfect Contror, 46 47 3.4 Outline of the IMC Design Procedure 50 3.4.1 Basic Design Philosophy 50 3.4.2 Two-Degree-of-Freedom Design 52 3.4.3 Design in the Presence of Measurement Device Dynamics 54 3.5 Summary 55 3. 6 References 55 4 SISO IMC DESIGN FOR STABLE SYSTEMS 57 4.1 Nominal Performance 57 4.1.1 H2-Optimal Control .58 4.1.2 Design for Specific Input forms 60 4. 1.3 Minimum Error Norm for Step Inputs 61 4.2 The IMC Filter 64 4.2.1 Filter form 64 4.2.2 A Qualitative Interpretation of the Function of the Filter. 65 4.3 Robust stability 66 4.3.1 Norm-Bounded Uncertainty Regions 66 4. 3. 2 General Uncertainty Regions 68 4.4 Robust Performance 70 4.4.1 Norm-Bounded Uncertainty Regions 70 4.4.2 General Uncertainty Regions .73 4.5 Summary of IMC Design Procedure 74 4.6 Application: IMC Design for a First-Order Deadtime System 4.6.1 Deadtime uncertainty 4.6.2 Three-Parameter Uncertainty 81 Digitized by Google CONTENTS 4.7 References 84 5 SISO IMC DESIGN FOR UNSTABLE SYSTEMS 85 5.1 Parametrization of All Stabilizing Controllers 85 5.1.1 Conditions for Internal Stability ,,85 5. 1.2 Controller parametrization 87 5.2 Nominal Performance 88 5.2.1 H2-Optimal Controller ,,,,88 5.2.2 Design for Common Input Forms 92 5.2.3 Minimum Error Norm for Step Inputs to Stable Systems.. 94 5.2.4 Two-Degree-of-Freedom Controller 94 5.3 The IMC Filter 96 5.3. 1 Filter Form 96 5.3.2 Qualitative Interpretation of the Filter Function ,.99 5.4 Robust Stability ,,,101 5.4.1 Norm-Bounded Uncertainty Regions 101 5.4.2 General Uncertainty Regions 102 5.5 Robust Performance ,102 5.6 Summary of the IMC design Procedure 103 5.7 Applications 104 5.7.1 Distillation Column Base Level Control 104 5.7.2 NMP Unstable Systems 107 5. 8 References 110 6 ISSUES IN SISO IMC DESIGN 113 6. 1 Implications of IMC for Classic Feedback Controllers 6. 1.1 General relationships 6.1.2 PID Settings for Simple models 113 ,114 6. 1.3 PID Settings for a First-Order System with Deadtime .. 121 6. 1. 4 Summary 125 6.2 IMC Interpretation of Smith Predictor Controller 126 6.2.1 General relationships 126 6.2.2 Some Myths about the Tuning of Smith-Predictor Controllers 128 6.2.3 Robust Tuning of Smith-Predictor Controller for First- Order System with Deadtime 130 6.2.4 Summary 131 6.3 Feedforward Control .131 6.3.1 Objectives and Structure 131 6.3.2 Design 132 6.3.3 Summary 135 by Google

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    tonghuaxia 很棒的书,业界良心
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