ROBUST MIMO SMITH PREDICTOR TUNING VIA CONVEX OPTIMIZATION

Bruno Bueckmann Diegoli¹; Julio Elias Normey-Rico²

¹ Universidade Federal de Santa Catarina; ² julio.normey@ufsc.br

Baixar PDF doi:10.20906/CPS/CBA2018-0707

Resumo

The basic principles of a multivariable Smith Predictor controller tuning method for stable processes is presented. Originally developed for PID tuning, this automatic method formulates the tuning procedure as a convex optimization problem, where convergence to a local minimum is guaranteed. It can be readily extended in many ways to more complex applications. In this paper, besides adapting the algorithm to a Smith Predictor controller, an additional constraint regarding disturbance rejection is added, and its robustness is increased via polytopic approach. The method is tested on simulated multivariable processes with constant transport delays.

Palavras-chave: Smith Predictor; convex optimization; robust control; polytopic approach