A MIMO cautious self-tuning controller

Authors

  • Apostolos V. Papadoulis,

    1. Department of Chemistry and Chemical Engineering, Michigan Technological University, Houghton, MI 49931
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  • Spyros A. Svoronos

    Corresponding author
    1. Department of Chemical Engineering, University of Florida, Gainesville, FL 32611
    • Department of Chemical Engineering, University of Florida, Gainesville, FL 32611
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Abstract

This paper presents a simple linear model based self-tuning controller (STC) for MIMO systems. The controller, namely the cautious selftuning controller (CSTC), features enhanced robustness characteristics in the case of unmodeled nonlinearities and / or dynamics. The controller structure is that of a linear quadratic, minimizing a single-step cost function, and with time varying input penalization. The CSTC can be applied to open-loop stable and minimum-phase systems. Application to a simulated distillation column demonstrates its effectiveness.

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