Control of a coupled-drives apparatus laboratory model as a two-input-two-output system is presented. Control algorithms based on polynomial theory and pole assignment methods are proposed. Three control algorithms are implemented and compared. Both one-degree-of-freedom and two-degree-of-freedom control system configurations were used. Problems of decoupling, where compensators suppress the interactions between control loops, were also solved. Adaptive algorithms were used to control the model. The recursive least-squares method with directional forgetting was used for the identification process. The results of real-time experiments are also included.
ShinskeyF. G.Process control system, 4th edition, 1996 (McGraw-Hill, New York).
2.
LuybenW. L.Simple method for tuning SISO controllers in multivariable systemsInd. Engng Chem., Process Des. Dev., 1986, 25, 654–660.
3.
CuiH.JacobsenE. W.Performance limitations in decentralized controlJ. Process Control, 2002, 12, 485–494.
4.
ZhangY.WhenCh.SohY.Ch. Robust decentralized adaptive stabilization of interconnected systems with guaranteed transient performance. Automatica, 2000, 36 (6), 907–915.
5.
ChenD.SeborgD. E.Multiloop PI/PID controller design based on Gershgorin bandsIEE Proc., Control Theory Applic., 2002, 149 (1), 68–73.
6.
HoW. K.LeeT. H.GanO. P.Tuning of multi-loop proportional-integral-derivative controllers based on gain and phase margin specificationInd. Engng Chem., Res., 1997, 36 (6), 2231–2238.
7.
LeeJ.ChoW.EdgarT. F.Multiloop PI controller tuning for interacting multivariable processesComputers Chem. Engng, 1998, 22 (11), 1711–1723.
8.
AlbertosP.SalaA.Multivariable control systems, 2004 (Springer-Verlag, London).
9.
SkogestadS.PostlethwaiteI.Multivariable feedback control: analysis and design, 2005 (John Wiley, Chichester, West Sussex).
10.
KrishnawamyP. R.ShuklaN. W.DeshpandeP. B.Reference system decoupling for multivariable controlInd. Engng Chem., Res., 1991, 30, 662–670.
11.
PengY.A general decoupling precompensator for linear multivariable systems with application to adaptive controlIEEE Trans. Autom. Control, 1990, 35 (3), 344–348.
12.
TadeM. O.BayoumiM. M.BaconD. W.Adaptive decoupling of a class of multivariable dynamic systems using output feedbackIEE Proc. Part D: Control Theory Applic., 1986, 133 (6), 265–275.
13.
WittenmarkB.MiddeltonR. H.GoodwinG. C.Adaptive decoupling of multivariable systemsInt. J. Control, 1987, 46 (6), 1993–2009.
14.
OrtegaV.KellyR.PID self-tuners: Some theoretical and practical aspectsIEEE Trans. Ind. Electron., 1984, 3, 332–338.
15.
Kučera, V. Stochastic multivariable control: a polynomial approach. IEEE Trans. Autom. Control, 1980, 5, 913–919.
16.
Kučera, V. Analysis and design of discrete linear control systems, 1991 (Prentice Hall, Englewood Cliffs, New Jersey).
17.
Kučera, V. Diophantine equations in control - a survey. Automatica, 1993, 29, 1361–1375.
Kulhavý, R. Restricted exponential forgetting in realtime identification. Automatica, 1987, 23, 589–600.
22.
BittantiS.BolzernP.CampiM.Convergence and exponential convergence of identification algorithms with directional forgetting factorAutomatica, 1990, 26 (5), 929–932.
23.
KubalčíkM.ChalupaP. J.BobálV.Self-tuning control applied to a coupled drives process. In Proceedings of the 6th Asian Control Conference, Bali, Indonesia, 18–21July 2006, pp. 475–481 (Institut Teknologi Bandung, Bandung).
