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Advanced Textbooks in Control and Signal Processing

Series Editors Professor Michael J. Grimble, Professor of Industrial Systems and Director Professor Emeritus Michael A. Johnson, Professor of Control Systems and Deputy Director Industrial Control Centre, Department of Electronic and Electrical Engineering, University of Strathclyde, Graham Hills Building, 50 George Street, Glasgow G1 1QE, U.K. Other titles published in this series: Genetic Algorithms K.F. Man, K.S. Tang and S. Kwong Neural Networks for Modelling and Control of Dynamic Systems M. Nørgaard, O. Ravn, L.K. Hansen and N.K. Poulsen Modelling and Control of Robot Manipulators (2nd Edition) L. Sciavicco and B. Siciliano Fault Detection and Diagnosis in Industrial Systems L.H. Chiang, E.L. Russell and R.D. Braatz Soft Computing L. Fortuna, G. Rizzotto, M. Lavorgna, G. Nunnari, M.G. Xibilia and R. Caponetto Statistical Signal Processing T. Chonavel Discrete-time Stochastic Processes (2nd Edition) T. Söderström Parallel Computing for Real-time Signal Processing and Control M.O. Tokhi, M.A. Hossain and M.H. Shaheed Multivariable Control Systems P. Albertos and A. Sala Control Systems with Input and Output Constraints A.H. Glattfelder and W. Schaufelberger Analysis and Control of Non-linear Process Systems K. Hangos, J. Bokor and G. Szederkényi Model Predictive Control (2nd Edition) E.F. Camacho and C. Bordons Principles of Adaptive Filters and Self-learning Systems A. Zaknich Control of Robot Manipulators in Joint Space R. Kelly, V. Santibáñez and A. Loría Publication due July 2005 Robust Control Design with MATLAB® D.-W. Gu, P.Hr. Petkov and M.M. Konstantinov Publication due July 2005 Active Noise and Vibration Control M.O. Tokhi Publication due November 2005

V. Bob´al, J. Böhm, J. Fessl and J. Mach´aˇcek Digital Self-tuning Controllers Algorithms, Implementation and Applications With 187 Figures 123

Vladimír Bob´al, Prof. Ing. CSc. Tomas Bata University in Zlín, Faculty of Technology, 762 72 Zlín, Czech Republic Josef Böhm, Ing. CSc. Academy of Sciences of the Czech Republic, Institute of Information and Automation, 182 08 Praha 8, Czech Republic Jaromír Fessl, Ing. CSc. Consultant in Control Engineering, Hornomˇecholupsk´a 76, 102 00 Praha 10, Czech Republic Jiˇrí Mach´aˇcek, Doc. Ing. CSc. University of Pardubice, Faculty of Chemical Technology, 532 10 Pardubice, Czech Republic British Library Cataloguing in Publication Data Digital self-tuning controllers : algorithmus, implementation and applications. - (Advanced textbooks in control and signal processing) 1. Self-tuning controllers I. Bob´al, V. 629.8’36 ISBN-10: 1852339802 Library of Congress Control Number: 2005923880 Apart from any fair dealing for the purposes of research or private study, or criticism or review, as permitted under the Copyright, Designs and Patents Act 1988, this publication may only be reproduced, stored or transmitted, in any form or by any means, with the prior permission in writing of the publishers, or in the case of reprographic reproduction in accordance with the terms of licences issued by the Copyright Licensing Agency. Enquiries concerning reproduction outside those terms should be sent to the publishers. Advanced Textbooks in Control and Signal Processing series ISSN 1439-2232 ISBN-10 1-85233-980-2 ISBN-13 978-1-85233-980-7 Springer Science+Business Media springeronline.com © Springer-Verlag London Limited 2005 MATLAB® and SIMULINK® are the registered trademarks of The MathWorks, Inc., 3 Apple Hill Drive, Natick, MA 01760-2098, U.S.A. http://www.mathworks.com The use of registered names, trademarks, etc. in this publication does not imply, even in the absence of a speciﬁc statement, that such names are exempt from the relevant laws and regulations and therefore free for general use. The publisher makes no representation, express or implied, with regard to the accuracy of the infor- mation contained in this book and cannot accept any legal responsibility or liability for any errors or omissions that may be made. Typesetting: Camera ready by authors Production and Cover Design: LE-TEX Jelonek, Schmidt & Vöckler GbR, Leipzig, Germany Printed in Germany 69/3830-543210 Printed on acid-free paper SPIN 11330257

To our wives Jana, Marta, Marie and Marie.

Series Editors’ Foreword The topics of control engineering and signal processing continue to flourish and develop. In common with general scientific investigation, new ideas, concepts and interpretations emerge quite spontaneously and these are then discussed, used, discarded or subsumed into the prevailing subject paradigm. Sometimes these innovative concepts coalesce into a new sub-discipline within the broad subject tapestry of control and signal processing. This preliminary battle between old and new usually takes place at conferences, through the Internet and in the journals of the discipline. After a little more maturity has been acquired by the new concepts then archival publication as a scientific or engineering monograph may occur. A new concept in control and signal processing is known to have arrived when sufficient material has evolved for the topic to be taught as a specialised tutorial workshop or as a course to undergraduate, graduate or industrial engineers. Advanced Textbooks in Control and Signal Processing are designed as a vehicle for the systematic presentation of course material for both popular and innovative topics in the discipline. It is hoped that prospective authors will welcome the opportunity to publish a structured and systematic presentation of some of the newer emerging control and signal processing technologies in the textbook series. Methods adopted for use in industrial and process control systems are invariably straightforward in structure and easily implemented. The success of industrial PID controllers is often claimed to be due to these factors. The self- tuning controller is a technology, which has all the benefits of structural simplicity and is not very difficult to implement but has not been widely applied in industrial application. One possible reason is the recent extensive development of the robust controller paradigm where the “one size fits all” fixed controller philosophy reigns supreme. Of course, a conservative controller may come with a performance cost degradation so it is always useful to have several tools available for each controller task. And as Professor Bobál and his colleagues Professors Böhm, Fessl and Macháek show in this advanced course textbook the self-tuning controller can be very effective in preserving controller performance in the presence of slowly varying processes, and unknown process disturbances. Advances on the industrial PID controller will not make the transfer to industrial practice unless there are lucid and direct textbooks available to aid

viii Series Editors’ Foreword engineers in understanding the potential of these techniques. In this textbook, Professor Bobál and his colleagues have captured their experiences in designing and applying the self-tuning controller method. The book gives a staged presentation that should enable the industrial engineer to develop new industrial applications of this adaptive control technique. The context of self-tuning controllers is established in the opening three chapters of the book. In these chapters can be found a classification of adaptive control methods establishing the general position of the self-tuning controller method. Chapter 3 serves as an introduction to process model nomenclature and to the techniques of process identification to be used in the text. Three thorough chapters then follow on different types of control design methods to be used in the self-tuning controller framework. These chapters examine closely the self-tuning PID controller (Chapter 4), the algebraic methods for self-tuning controller design like deadbeat, and pole-placement (Chapter 5) and finally, a self-tuning LQ controller (Chapter 6). Each chapter contains invaluable simulation examples and tips for tuning and implementing the various controller types. The final two chapters deal with SIMULINK® simulation tools for gaining experience using the self-tuning controllers devised and recount the author team’s experiences with some practical process applications. The highlight here is the application of an adaptive LQ controller to a heat-exchanger process. Since the 1960s, the academic control community has devised many innovative controller methodologies but too few of them have made the transition to regular or widespread industrial practice. This new course textbook on the self-tuning controller method should enable industrial control engineers to gain an insight into the applications potential of this very transparent control technique. The material of the text also gives a good summary of both the theoretical and applications status of the method, which could prove valuable for graduate classes and for re- igniting the method as a research theme. M.J. Grimble and M.A. Johnson Industrial Control Centre Glasgow, Scotland, U.K. January 2005

Preface The ﬁeld of adaptive control has undergone signiﬁcant development in recent years. The aim of this approach is to solve the problem of controller design, for instance where the characteristics of the process to be controlled are not suﬃciently known or change over time. Several approaches to solving this problem have arisen. One showing great potential and success is the so-called self-tuning controller (STC). The basic philosophy behind STCs is the recursive identiﬁcation of the best model for the controlled process and the subsequent synthesis of the controller. A number of academics from universities and other institutes have worked in- tensively on this approach to adaptive control; K. J. ˚Astr¨om (Department of Automatic Control, Lund Institute of Technology), D. W. Clarke (Department of Engineering Science, University of Oxford), P. A. Wellstead (Institute of Sci- ence and Technology, University of Manchester), R. Isermann (Department of Control Engineering, Technical University of Darmstadt), I. D. Landau (Insti- tut National Polytechnique de Grenoble), H. Unbehauen (Control Engineering Laboratory, Ruhr University Bochum) and also V. Peterka (Institute of Infor- mation Theory and Automation, Academy of Sciences of the Czech Republic, Prague) can be considered as pioneers in this ﬁeld. Although during research much eﬀort has been devoted to meeting speciﬁc practical requirements it cannot be said that the above approach has been widely applied. On the other hand, many projects have been successfully put into practice. The characteristic common to all these projects was that there was a suﬃciently qualiﬁed operator available who was both well acquainted with the technology in the ﬁeld and able to take on board the scientiﬁc aspects of the work. At this current stage of development in adaptive controllers there is a slight growth of interest in both the simpler and more sophisticated types of controller, particularly among universities and companies that deal with control design. It can be seen, however, that the lack of suitable literature in this ﬁeld imposes a barrier to those who might otherwise be interested. We are referring especially to literature which can be read by the widest possible

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