Symetry 2020 Example

Asymmetries in the disturbance compensation methods for the stable and unstable first order plants

no Reference Model

Setpoint feedforward loop & SDOB based disturbance feedforward & stabilizing controller

Reference Model

Setpoint feedforward & SDOB & stabilizing controller with reference models

RM with Constraints

Implementation of control signal constraints

Zhong & Normey-Rico

PI-PD control according to Zhong and Normey-Rico

FSP inspired structure

Controller structure inspired by the Filtered Smith Predictor

Example 1 (Fig.7) Example 2 (Fig.15)

Simulations

tsim:

tw:

ti:

di:

to:

do:

Ks:

Km:

am:

Imposing constraints

Kc:

KP:

Tf:

Tc:

Umin:

Umax:

Uifmin:

Uifmax: