Abbreviations and Symbols | p. xxi |
Why Predictive Control? | p. 1 |
"You would not drive your car using PID control" | p. 1 |
Historical Context | p. 2 |
Breaking with the PID Tradition | p. 3 |
Impact on Industry | p. 5 |
The Petrochemical Industry | p. 6 |
The Defence Industry | p. 6 |
Objective | p. 6 |
Formulation | p. 7 |
Implementation | p. 7 |
Process | p. 8 |
Predictive Control Block Diagram | p. 8 |
Summary | p. 9 |
Internal Model | p. 11 |
Why Is Prediction Necessary? | p. 11 |
Model Types | p. 12 |
Realigned Model | p. 13 |
Independent Model | p. 13 |
Decomposition of Unstable or Non-asymptotically Stable Systems | p. 15 |
Measurable Disturbance Compensation | p. 15 |
Decomposition | p. 16 |
Prediction | p. 18 |
The Free Solution SL(t) | p. 18 |
The Forced Solution SF(t) | p. 19 |
Summary | p. 20 |
Reference Trajectory | p. 23 |
Introduction | p. 23 |
Reference Trajectory | p. 24 |
Pure Time Delay | p. 26 |
Summary | p. 29 |
Control Computation | p. 31 |
Elementary Calculation | p. 31 |
How to Determine Future Model Outputs | p. 32 |
How to Structure the Future MVs | p. 32 |
No Integrator | p. 34 |
Basis Functions | p. 36 |
What MVs Are Required? | p. 36 |
Computational Requirements | p. 38 |
Polynomial Set-point | p. 38 |
Extension | p. 41 |
Implicit Regulator Calculation | p. 41 |
Control of an Integrator Process | p. 43 |
Feedforward Compensation | p. 45 |
Process Without Time Delay | p. 46 |
Process with Time Delay | p. 49 |
Extension | p. 50 |
Extension: MV Smoothing | p. 54 |
Convolution Representation | p. 56 |
Extension to Higher-order System Models | p. 58 |
Real Poles | p. 59 |
Complex Poles | p. 59 |
Control of a Pure Oscillator | p. 62 |
First-order Stable Process with a Stable or Unstable Zero | p. 64 |
Controller Initialisation | p. 66 |
PFC Controller Permanently Installed | p. 66 |
PFC Commissioning Phase | p. 68 |
Summary | p. 68 |
Tuning | p. 71 |
Regulator Objectives | p. 71 |
Accuracy | p. 72 |
Dynamics | p. 73 |
Time Response | p. 73 |
Frequency Response | p. 75 |
Robustness | p. 77 |
Choice of Tuning Parameters | p. 79 |
Accuracy | p. 79 |
Dynamics | p. 80 |
Robustness | p. 80 |
Gain Margin as a Function of CLTR (First-order System) | p. 84 |
Tuning | p. 85 |
Gain Margin/Delay Margin | p. 86 |
Sensitivity Function ("Hill Curve") | p. 88 |
The Tuner's Rule | p. 89 |
Practical Guidelines | p. 91 |
Summary | p. 92 |
Constraints | p. 93 |
Benefit | p. 93 |
MV Constraints | p. 94 |
Impact of Constraints on the CL'TR | p. 96 |
Internal Variable Constraints | p. 96 |
Constraint Transfer-Back Calculation | p. 100 |
Summary | p. 102 |
Industrial Implementation | p. 103 |
Implementation | p. 103 |
Zone Control | p. 104 |
Cascade Control | p. 107 |
Transparent Control | p. 108 |
Shared Multi-MV Control | p. 110 |
Coupled Actuators | p. 111 |
Split-range Control | p. 114 |
Estimator | p. 117 |
State and Structural Disturbances | p. 118 |
Feedforward Variable | p. 120 |
Calibration | p. 121 |
Non-linear Control | p. 122 |
Non-linearities of the MV or CV | p. 122 |
Non-linear Stationary Feedback | p. 123 |
Scenario Method | p. 126 |
2MV/2CV Control | p. 127 |
Tire Problem Being Addressed | p. 127 |
Control Computation | p. 128 |
Constraints on the MVs | p. 129 |
Tuning | p. 131 |
Summary | p. 133 |
Parametric Control | p. 135 |
Parametric Instability | p. 135 |
Heat Exchanger | p. 136 |
Constraint Transfer in Parametric Control | p. 141 |
Evaluation | p. 143 |
Summary | p. 144 |
Unstable Poles and Zeros | p. 145 |
Complexity | p. 145 |
Stable Pole and Stable Zero | p. 147 |
Unstable Zero and a Stable Pole | p. 148 |
Control of an Unstable, Minimum Phase Process | p. 149 |
Control of an Unstable, Non-minimum Phase Process | p. 150 |
Stability | p. 152 |
Robustness | p. 353 |
Tuning | p. 155 |
Summary | p. 156 |
Industrial Examples | p. 157 |
Industrial Applications | p. 157 |
Heat Exchanger | p. 158 |
Problem Description | p. 158 |
Convexity Theorem | p. 159 |
Fluid/Mass Exchange | p. 160 |
Counter-current Exchanger | p. 166 |
Implementation of a First-principles Model Controller | p. 167 |
Institut de Régulation d' Arles Exchanger | p. 168 |
Heat-exchanger Model | p. 168 |
Control | p. 170 |
Results | p. 172 |
Arcelor | p. 177 |
Continuous Casting | p. 178 |
GV1/2 Steam Generators | p. 184 |
Evontk.Degussa | p. 197 |
Summary | p. 200 |
Conclusions | p. 201 |
Characteristics of PFC Control | p. 202 |
Model | p. 202 |
Reference Trajectory | p. 202 |
Regulator | p. 202 |
Basis Functions | p. 202 |
Time and Frequency Domains | p. 203 |
Limits of PFC Control | p. 203 |
Multiple-Input, Multiple-Output Extension | p. 203 |
Constraints | p. 203 |
Effort | p. 203 |
Risk | p. 204 |
Final Remark | p. 205 |
| p. 207 |
First-Order Process (K, T, D) in MATLAB“, C++ and VB | p. 207 |
Matlab | p. 207 |
C++ | p. 209 |
In Visual Basic | p. 211 |
First-order Integrator Process | p. 214 |
| p. 217 |
Calculation of Heat-Transfer Coefficient for Water | p. 217 |
Time-constant Calculation | p. 218 |
References | p. 219 |
Index | p. 221 |
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