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Robust design of GPC for processes with time delay

✍ Scribed by Julio E. Normey-Rico; Eduardo F. Camacho

Publisher
John Wiley and Sons
Year
2000
Tongue
English
Weight
218 KB
Volume
10
Category
Article
ISSN
1049-8923

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✦ Synopsis

This paper presents a simple design method for improving the robustness of GPC for processes with time delay. The method allows the tuning of the controller in two steps and can be applied to stable and unstable processes. The results are also valid for multivariable processes. The proposed method uses the ΒΉ polynomial as a "lter but the approach is di!erent from the methods previously proposed in the literature, resulting in a much simpler tuning procedure even for unstable plants. Some illustrative examples are presented to show the good qualities of the proposed method.

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## Abstract This paper is devoted to robust iterative learning control (ILC) design for time‐delay systems (TDS) with uncertainties in both model plant and delay time. An ILC law is considered by using anticipation in time to compensate for the effects of delay, which has three design parameters: t