Proceedings of the 7th IFAC/IFIP/IMACS Conference, Vienna, Austria, 17-20 September 1985
E-Book, Englisch, 623 Seiten
ISBN: 978-1-4832-9813-9
Verlag: Elsevier Book Series
Format: PDF
Kopierschutz: Adobe DRM (»Systemvoraussetzungen)
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Weitere Infos & Material
1;Front Cover;1
2;Digital Computer Applications to Process Control;4
3;Copyright Page;5
4;Table of Contents;10
5;Chapter 1. Theory and Application of Adaptive Control;14
5.1;INTRODUCTION;14
5.2;BASIC STRUCTURES OF ADAPTIVE CONTROL SYSTEMS;14
5.3;DESIGN OF SELF-TUNING CONTROLLERS (STC);16
5.4;DESIGN OF MODEL-REFERENCE ADAPTIVE CONTROLLERS (MRAC);17
5.5;DEVELOPMENTS IN THEORY DURING 1980-1984;19
5.6;APPLICATIONS DURING 1980–1981;20
5.7;CONCLUSIONS;22
5.8;REFERENCES;22
6;Chapter 2. The Present Status of Industrial Application of Distributed Control Systems to Chemical Process Control in Japan;32
6.1;1. HISTORY AND FEATURE OF JAPANESE DCS;32
6.2;2. PRESENT STATUS OF USE OF DCS IN JAPANES CHEMICAL INDUSTRIES;36
6.3;3. DCS APPLICATION TO CONTINUOUS PROCESS;40
6.4;4. APPLICATION OF A DCS FOR BATCH PROCESS;41
6.5;5. CONCLUSION;43
6.6;ACKNOWLEDGMENT;43
7;PART I: SUEVEY PAPERS;44
7.1;Chapter 3. Control of Complex Industrial Processes – A Survey;44
7.1.1;TOMORROW.. .OR TODAY?;44
7.1.2;BEYOND INTEGRATION;47
7.2;Chapter 4. Control of Energy and Power Systems;48
7.2.1;INTRODUCTION;48
7.2.2;GENERAL CONSIDERATION OF THE CONTROL BEHAVIOUR OF POWER SYSTEMS;48
7.2.3;DETAILED CONSIDERATION OF THE DYNAMIC INTERACTION BETWEEN POWER PLANTS, TRANSMISSION NETWORT AND LOADS;51
7.2.4;ORIGIN OF POWER SYSTEM OSCILLATION AND POSSIBLE COUNTERMEASURES;53
7.2.5;MULTIVARIABLE UNIT CONTROL;56
7.2.6;STRUCTURE AND EXTENT OF POWER PLANT CONTROL EQUIPMENT;57
7.2.7;APPLICATION PROBLEMS WITH DIGITAL CONTROL SYSTEMS;58
7.2.8;RELIABILITY OF DIGITAL CONTROL SYSTEMS;60
7.2.9;CONCLUSION;61
7.2.10;LITERATURE;61
7.3;Chapter 5. Process Fault Diagnosis with Parameter Estimation Methods;64
7.3.1;1. INTRODUCTION;64
7.3.2;2. FAULT DIAGNOSIS BASED ON PROCESS PARAMETERS;65
7.3.3;3. FAULT DIAGNOSIS OF A D.C.MOTOR-CENTRIFUGAL PUMP;67
7.3.4;4. CONCLUSION;69
7.3.5;REFERENCES;69
7.4;Chapter 6. Industrial Applications of Internal Model Control;74
7.4.1;1 - NEW NEEDS AND MEANS;74
7.4.2;2 - THE INTERNAL MODEL CONTROL APPROACH;75
7.4.3;3 - STABILITY - CONTROLLABILITY;76
7.4.4;4 - SPECIFIC PROBLEMS OF INTERNAL MODEL CONTROL;76
7.4.5;5 - PRACTICAL PROBLEMS;77
7.4.6;6 - ECONOMICS;78
7.4.7;7 - FUTURE DEVELOPMENTS;78
7.4.8;CONCLUSION;79
7.4.9;REFERENCES;79
8;PART II: TUTORIAL PAPERS;82
8.1;Chapter 7. State Space Approach to Linear Computer Control;82
8.1.1;1. INTRODUCTION;82
8.1.2;2. SYSTEM STATE AND STATE EQUATIONS;82
8.1.3;3. STABILITY;85
8.1.4;4. GENERATION OF COMMAND VARIABLES;85
8.1.5;5. SYSTEM STATE VECTOR ESTIMATION;86
8.1.6;5. PRINCIPLES OF DETERMINISTIC SYNTHESIS;88
8.1.7;7. POLE ASSIGNMENT PROBLEM;88
8.1.8;8. FINITE NUMBER OF CONTROL STEPS FNCS (DEADBEAT RESPONSE);89
8.1.9;9. FEEDFORWARD CONTROLLER;90
8.1.10;10. QUADRATIC COST FUNCTIONS;92
8.1.11;REFERENCES;94
8.2;Chapter 8. Digital Simulation Methods – A Tutorial;96
8.2.1;1. INTRODUCTION;96
8.2.2;2. MATHEMATICAL MODELLING;97
8.2.3;3. NUMERICAL METHODS IN SIMULATION;99
8.2.4;4. SIMULATION LANGUAGES;102
8.2.5;5. MAN-MACHINE-PROCESS INTERFACE;103
8.2.6;6. HARDWARE FACILITIES;103
8.2.7;7. APPLICATIONS;104
8.2.8;8. FUTURE OF SIMULATION IN PROCESS CONTROL;104
8.2.9;REFERENCES;105
8.3;Chapter 9. Basics, Fundamentals and Possibilities for Digital Control;108
8.3.1;INTRODUCTION;108
8.3.2;WHAT ARE THE OBJECTIVES?;109
8.3.3;WHAT DO YOU KNOW (OR NEED TO KNOW) ABOUT THE SYSTEM?;110
8.3.4;WHICH CONTROL STRATEGIES ARE AVAILABLE?;112
8.3.5;LOOSELY COUPLED DESIGN;112
8.3.6;METHODS BASED ON A DESIRED SYSTEM RESPONSE;112
8.3.7;OPTIMAL DESIGN METHODS;113
8.3.8;SIMPLE SELF-TUNING CONTROLLER;115
8.3.9;CONCLUSIONS;116
8.3.10;REFERENCES;116
9;PART III: APPLICATION ORIENTED PAPERS;118
9.1;Chapter 10. Multivariable Control of an Ammonia Plant: Modelling and Control Theory;118
9.1.1;1. CONTROL OBJECTIVES;118
9.1.2;2. OBSERVER MODEL;118
9.1.3;3. OPEN-LOOP MODELS;119
9.1.4;4. GAIN MATRIX DESIGN;119
9.1.5;5. APPLICATION;120
9.1.6;6. CONCLUSION;120
9.1.7;ACKNOWLEDGEMENTS;120
9.1.8;REFERENCES;120
9.2;Chapter 11. Direct Digital Modelling and Control of the HCN Plant;124
9.2.1;INTRODUCTION;124
9.2.2;REFERENCES;127
9.3;Chapter 12. Digital Control of Bilinear Continuous Processes. Application to a Chemical Pilot Plant;128
9.3.1;INTRODUCTION;128
9.3.2;DISCRETE MODEL OF A CONTINUOUS BILINEAR SYSTEM;128
9.3.3;DISCRETE LINEARIZING CONTROL;129
9.3.4;A DISCRETE OBSERVER FOR CONTINUOUS BILINEAR SYSTEMS;129
9.3.5;SIMULATION RESULTS;130
9.3.6;APPLICATION TO A CHEMICAL PILOT PLANT;131
9.3.7;CONCLUSION AND PROSPECTS;131
9.3.8;ACKNOWLEDGMENTS;131
9.3.9;REFERENCES;132
9.3.10;APPENDIX;132
9.4;Chapter 13. Control of an Industrial Drum Filter by Using Adaptive Models;134
9.4.1;INTRODUCTION;134
9.4.2;DRUM FILTRATION;134
9.4.3;INSTRUMENTATION AND CONTROL;135
9.4.4;THE PROCESS MODELS;136
9.4.5;THE CONTROL MODELS;138
9.4.6;IDENTIFICATION OF DISTURBANCE MODELS;139
9.4.7;SELF-TUNING CONTROL BY ADAPTIVE MODELS;139
9.4.8;THE RESULTS ACHIEVED;140
9.4.9;DISCUSSION;140
9.4.10;CONCLUSIONS;141
9.4.11;REFERENCES;141
9.5;Chapter 14. Microcomputer Control of a Printing Ink Plant;144
9.5.1;INTRODUCTION;144
9.5.2;TECHNOLOGY AND CONTROL REQUIREMENTS;144
9.5.3;SOFTWARE SYSTEM;145
9.5.4;CONCLUSION;147
9.5.5;REFERENCES;147
9.6;Chapter 15. Optimization of a Plant for Separation of Natural Gas;150
9.6.1;INTRODUCTION;150
9.6.2;PROCESS DESCRIPTION AND MATHEMATICAL MODEL OF THE PLANT;151
9.6.3;THE OPTIMIZATION PROCEDURE;154
9.6.4;THE RESULTS;155
9.6.5;REFERENCES;156
9.7;Chapter 16. Comparison of Some Algorithms to Stabilize a Hydro Power Plant Control. A Case Study;160
9.7.1;INTRODUCTION;160
9.7.2;THE SIMULATION MODEL;160
9.7.3;RESULTS OF SIMULATION AND STABILITY ANALYSIS;161
9.7.4;COMPARISON OF CONTROL ALGORITHMS;162
9.7.5;CONCLUSIONS;163
9.7.6;REFERENCES;163
9.8;Chapter 17. An Algorithm Applicable for Digital Speed Control of Water Turbines;166
9.8.1;INTRODUCTION;166
9.8.2;THE PROCEDURE;167
9.8.3;EXAMPLE;169
9.8.4;CONCLUSION;170
9.8.5;REFERENCES;170
9.9;Chapter 18. Design of Advanced Digital Control Algorithms for Water Turbines;172
9.9.1;INTRODUCTION;172
9.9.2;MATHEMATICAL MODELS FOR WATER TURBINES;172
9.9.3;DIGITAL CONTROL ALGORITHM;173
9.9.4;INFLUENCE OF VARIABLE PLANT PARAMETERS;175
9.9.5;SUMMARY;175
9.9.6;REFERENCES;176
9.10;Chapter 19. Optimal Control Algorithm for Hydropower Plants Chain Short-term Operation;178
9.10.1;INTRODUCTION;178
9.10.2;SYSTEM CONSTRAINTS;179
9.10.3;OBJECTIVE FUNCTION;181
9.10.4;SOLUTION METHODOLOGY;181
9.10.5;APPLICATION TO THE EGYPTIAN HYDROPOWER SYSTEM;182
9.10.6;CONCLUDING REMARKS;182
9.10.7;REFERENCES;182
9.11;Chapter 20. On-line Computer Control of a Continuous Latex Reactor Train;186
9.11.1;INTRODUCTION;186
9.11.2;STATEMENT OF THE PROBLEM AND PROPOSED STRATEGY FOR ITS SOLUTION;186
9.11.3;CONVENTIONAL REACTOR TRAINS;186
9.11.4;A GENERAL APPROACH TO REACTOR DESIGN AND CONTROL;187
9.11.5;CONCLUSIONS;188
9.11.6;REFERENCES;188
9.12;Chapter 21. Computer Network for the Supervisory Control of the Natural Gas Pipeline System of Hungary;194
9.12.1;INTRODUCTION;194
9.12.2;SHORT DESCRIPTION OF THE TECHNOLOGY;194
9.12.3;FUNCTIONS OF THE CONTROL SYSTEM;195
9.12.4;SOFTWARE STRUCTURE;195
9.12.5;OPERATOR COMMUNICATION;196
9.12.6;INSTALLATION;196
9.13;Chapter 22. Improved Sliding Mode Method Applied to Digital Decoupled Water-Level Control for Two Tanks Connected with Pipes;200
9.13.1;INTRODUCTION;200
9.13.2;DESCRIPTION OF METHODOLOGY;201
9.13.3;DESCRIPTION OF CONTROL SYSTEM;202
9.13.4;EXPERIMENTAL RESULT;202
9.13.5;CONCLUSIONS;203
9.13.6;REFERENCES;203
9.14;Chapter 23. An Application of Multivariable Self-Tuning Control;208
9.14.1;INTRODUCTION;208
9.14.2;SYSTEM MODEL;208
9.14.3;SYSTEM IDENTIFICATION;209
9.14.4;CHARACTERISTICS OF PARAMETER ADAPTABILITY;210
9.14.5;SYSTEM CONTROL;210
9.14.6;THE ALGORITHM: DISCUSSION AND RESULTS;211
9.14.7;CONCLUSIONS;212
9.14.8;ACKNOWLEDGEMENTS;212
9.14.9;REFERENCES;212
9.14.10;APPENDIX 1;212
9.14.11;APPENDIX 2;213
9.14.12;MIMO DERIVATION OF THE FORGETTING FACTOR;213
9.15;Chapter 24. Multivariable Self-tuning Control of a Binary Distillation Column;220
9.15.1;INTRODUCTION;220
9.15.2;THEORY;220
9.15.3;EQUIPMENT;223
9.15.4;ALGORITHM IMPLEMENTATION;223
9.15.5;RESULTS;224
9.15.6;CONCLUSION;225
9.15.7;ACKNOWLEDGEMENT;225
9.15.8;REFERENCES;225
9.15.9;NOTATION;226
9.16;Chapter 25. Various Design aspects of Microcomputer Applications in Power Engineering;230
9.16.1;PROBLEMS OF THE USE OF MICRO COMPUTERS IN POWER ENGINEERING;230
9.16.2;EFFECTS ON DESIGN AND LAYOUT OF MICROCOMPUTER SYSTEMS;230
9.16.3;SUMMARY OF REALIZED APPLICATIONS;232
9.16.4;CONCLUSION;233
9.17;Chapter 26. A Large-scale Hierarchical Digital Control System Application to a Gas/System Combined Cycle Power Plant;234
9.17.1;INTRODUCTION;234
9.17.2;DESIGN PHILOSOPHY;235
9.17.3;CONTROL SYSTEM OF GAS/STEAM COMBINED PLANT;236
9.17.4;OVERALL COMBINATION TEST;240
9.17.5;CONCLUSION;240
9.17.6;REFERENCES;240
9.18;Chapter 27. Regulation of a Steam-Generator in an Adaptive Multivariable Way;242
9.18.1;I. INTRODUCTION;242
9.18.2;II. THE PROCESS AND ITS MODELIZATION;242
9.18.3;III. THE CONTROL-LAW;243
9.18.4;IV. THE PROCESS-CONTROL SYSTEM;244
9.18.5;V. ADAPTIVE CONTROLLER IMPLEMENTATION;245
9.18.6;VI. CONCLUSION : COMMENTS AND PROPOSITION FOR PROCESS-CONTROL SYSTEMS;246
9.18.7;REFERENCES;246
9.19;Chapter 28. Steam Superheater Control via Self-tuning Regulator;248
9.19.1;INTRODUCTION;248
9.19.2;SELF-TUNING REGULATOR WITH MULTISTEP CRITERION;248
9.19.3;CONTROL LOOP OF STEAM TEMPERATURE;250
9.19.4;ADAPTIVE CONTROL OF STEAM TEMPERATURE BEHIND SUPERHEATOR PII;250
9.19.5;ADAPTIVE CONTROL OF STEAM TEMPERATURE ON THE LAST TWO SUPERHEATORS;251
9.19.6;CONCLUSIONS;252
9.19.7;REFERENCES;252
9.20;Chapter 29. Microcomputer Control of Active Power in Industry;256
9.20.1;INTRODUCTION;256
9.20.2;CONSUMERS OPERATIONAL DATA;256
9.20.3;ALGORITHM FOR CONSUMERS RATIONAL SWITCHING-OFF;257
9.20.4;REALIZATION BY USING MICROCOMPUTER;257
9.20.5;CONCLUSION;258
9.20.6;REFERENCES;258
9.21;Chapter 30. Machine Independent Software Wiring and Programming of Distributed Digital Control Systems;260
9.21.1;INTRODUCTION;260
9.21.2;CONTROL SYSTEM INDEPENDENT SOFTWARE WIRING AND PROGRAMMING METHODS;262
9.21.3;SOFTWARE IMPLEMENTATION;262
9.21.4;HARDWARE IMPLEMENTATION;264
9.21.5;TESTING;266
9.21.6;SUMMARY AND PROSPECTS;266
9.21.7;REFERENCES;267
9.22;Chapter 31. Multi-micro Controller for Power Converters;268
9.22.1;INTRODUCTION;268
9.22.2;ARCHITECTURE;269
9.22.3;FIRING CONTROLLER;269
9.22.4;CURRENT REGULATOR;271
9.22.5;DIAGNOSTIC AND PROTECTIONS;272
9.22.6;CONCLUSIONS;273
9.22.7;REFERENCES;273
9.23;Chapter 32. Application of a Self-tuning Regulator to a Solar Power Plant;274
9.23.1;INTRODUCTION;274
9.23.2;A DESCRIPTION OF THE PLANT;274
9.23.3;THE CONTROL ALGORITHM;275
9.23.4;RESULTS;278
9.23.5;CONCLUSIONS;280
9.23.6;REFERENCIAS;280
9.24;Chapter 33. Rule Based Supervising of Power Plants by Colour Display Monitors;282
9.24.1;Introduction;282
9.24.2;Realized Graphic Information Display and interaction System;283
9.24.3;Information organization;284
9.24.4;Information acqess;286
9.24.5;Test results;287
9.24.6;Application example;287
9.24.7;Architectural and operational structure of the rule based system;288
9.24.8;Realization of the application example tc 'filter cleaning';292
9.24.9;Further application possibilities;292
9.24.10;REFERENCES;292
9.25;Chapter 34. Microprocessor-based Decoupled Control of Manipulator using Modified Model Following Method with Sliding Mode;294
9.25.1;INTRODUCTION;294
9.25.2;DESCRIPTION OF METHODOLOGY;295
9.25.3;DESCRIPTION OF CONTROL SYSTEM;296
9.25.4;EXPERIMENTAL RESULTS;297
9.25.5;CONCLUSION;297
9.25.6;ACKNOWLEDGMENT;297
9.25.7;REFERENCES;297
9.26;Chapter 35. Comparison of Digital Control Algorithms for Industrial Robots;300
9.26.1;INTRODUCTION;300
9.26.2;MODEL OF THE ROBOT;300
9.26.3;DIGITAL CONTROL ALGORITHMS;301
9.26.4;SIMULATION AND SIMULATION RESULTS;301
9.26.5;SUMMARY;302
9.26.6;REFERENCES;302
9.27;Chapter 36. Infrared Sensors for the Control and Quality Check of the Welding Process of an Adaptive Robotic System;304
9.27.1;INTRODUCTION;304
9.27.2;THE SUBSTANCE OF THE THREEDIMENSIONAL CONTROL OF THE ROBOT ACTUATOR BY THE DUPLEX PROXIMITY SENSOR;305
9.27.3;THE UTILIZATION OF THE INFRARED SENSORS IN THE CONTROL SYSTEM OF THE ROBOT;307
9.27.4;REFERENCES;310
9.28;Chapter 37. Model Reference Control of a Cement Mill;312
9.28.1;Introduction;312
9.28.2;Real-time raw mill control;312
9.28.3;Model reference control;313
9.28.4;Adaptative model reference control;313
9.28.5;Closed-loop control;314
9.28.6;Results;314
9.28.7;REFERENCES;316
9.29;Chapter 38. On-line Computer Control of Transportation Systems;318
9.29.1;INTRODUCTION;318
9.29.2;MICROPROCESSOR CONTROLLER;318
9.29.3;COMPUTATION OF SHORTEST ROUTES IN A NETWORK;320
9.29.4;PREDICTION OF TRAFFIC FLOW;320
9.29.5;ANALYSIS OF DETECTED CONFLICTS;321
9.29.6;SOLVING OF THE CONFLICT SITUATION;321
9.29.7;TRANSLATION OF THE COMPUTED ROUTES INTO ELEMENTARY COMMANDS;321
9.29.8;CONCLUSIONS;321
9.29.9;REFERENCES;321
9.30;Chapter 39. Multi-microprocessor Simulation of a Cutter Suction Dredging Ship;322
9.30.1;INTRODUCTION;322
9.30.2;THE SIMULATOR;323
9.30.3;COMPUTER IMPLEMENTATION;323
9.30.4;MULTI-MICROPROCESSOR SYSTEM;324
9.30.5;INTERACTIVE USER INTERFACE;325
9.30.6;CONCLUSIONS;327
9.30.7;ACKNOWLEDGMENT;327
9.30.8;REFERENCES;327
9.31;Chapter 40. Multi-stage Static Model of Ld-Steel Converter for High P-Content;328
9.31.1;INTRODUCTION;328
9.31.2;PROCESS DESCRIPTION;328
9.31.3;DEVELOPEMENT OF THE MODEL;330
9.31.4;THE USE OF THE MODEL IN INTERACTIVE SCHEME;334
9.31.5;CONCLUSIONS;334
9.31.6;REFERENCES;334
9.31.7;ACKNOWLEDGMENTS;334
9.32;Chapter 41. Discrete Parameter Adaptive Control of a Steel Mill Soaking Pit;336
9.32.1;INTRODUCTION;336
9.32.2;INGOT-PIT SYSTEM MODEL;336
9.32.3;DEVELOPMENT OF OPTIMAL HEATING PATTERNS;336
9.32.4;SELF-TUNING MINIMUM VARIANCE CONTROL;337
9.32.5;COMPUTER SIMULATION RESULTS;338
9.32.6;CONCLUSIONS;338
9.32.7;REFERENCES;338
9.33;Chapter 42. Model Development and Computer Control Strategies for Reheating Furnaces;342
9.33.1;INTRODUCTION;342
9.33.2;PROBLEM STATEMENT;342
9.33.3;MODEL DEVELOPMENT;343
9.33.4;VERIFICATION OF THE MODEL FROM INDUSTRIAL EXPERIMENTAL DATA;344
9.33.5;COMPUTER SIMULATIONS;344
9.33.6;MODEL BASED HEURISTIC OPTIMIZATION APPROACH;344
9.33.7;CONCLUSIONS;344
9.33.8;Reference;344
9.34;Chapter 43. Design of the Dynamics of Heat Exchanger;348
9.34.1;INTRODUCTION;348
9.34.2;A SHORT SURVEY OF STATE OF THE ART IN MODELLING OF HEAT EXCHANGERS;348
9.34.3;NONLINEAR MODEL OF THE DYNAMICS OF FLOW AND HEAT PROCESSES IN THE ELEMENTARY VOLUME;349
9.34.4;NONLINEAR MODEL OF THE DYNAMICS OF FLOW AND HEAT PROCESSES BASED ON THE TOTAL FLUID VOLUME;350
9.34.5;NONLINEAR FEEDBACK OF CONTROL MODEL AND EXTERNAL LINEARIZATION;351
9.34.6;NONLINEAR MODEL OF PRIMAR- -TO-SECONDAR CROSS-FLOW HEAT EXCHANGER;352
9.34.7;AN EXAMPLE: THE DYNAMICS OF WATER-TO-AIR CROSS-FLOW HEAT EXCHANGER;352
9.34.8;CONCLUSION;352
9.34.9;REFERENCES;353
9.34.10;NOMENCLATURE;354
9.35;Chapter 44. Digital Control of a Refrigerant Evaporator;356
9.35.1;INTRODUCTION;356
9.35.2;ANALYSIS OF THE EVAPORATION PLANT;356
9.35.3;CONTROLLER DESIGN;357
9.35.4;RESULTS UNDER VARIOUS CONDITIONS;358
9.35.5;ECONOMIC CONSIDERATIONS;358
9.35.6;CONCLUSIONS;358
9.35.7;REFERENCES;358
10;PART IV: PAPERS OF GENERAL ASPECTS;362
10.1;Chapter 45. Heuristic Adaptive Process Computer Control;362
10.1.1;INTRODUCTION;362
10.1.2;2. PROCESS OF INPUT-OUTPUT ORTHOGONALIZATION;363
10.1.3;3. MAXIMUM STABILITY MARGIN OF CONTROLLER PARAMETERS;364
10.1.4;4. APPLICATION OF THE DEGREE OF THE PROCESS OSCILLATORY BEHAVIOUR;365
10.1.5;5. CONCLUSION;367
10.1.6;REFERENCES;367
10.2;Chapter 46. Identification and Adaptive Control for Concrete Mixing Process;368
10.2.1;INTRODUCTION;368
10.2.2;PROCESS AND IDENTIFICATION;369
10.2.3;FINAL VALUE PREDICTION;369
10.2.4;CONTNOL ALGORITHM;370
10.2.5;IMPLEMENTATION;371
10.2.6;Conclusions;371
10.2.7;REFERENCE;371
10.3;Chapter 47. A Comparison of Several Multivariable Parameter Adaptive Controllers;374
10.3.1;INTRODUCTION;374
10.3.2;MULTIVARIABLE DISCRETE-TIME PLANT;374
10.3.3;CONTROLLER DESIGNS;375
10.3.4;SIMULATION RESULTS;377
10.3.5;CONCLUSIONS;377
10.3.6;REFERENCES;377
10.3.7;ACKNOWLEDGEMENTS;378
10.4;Chapter 48. Direct Adaptive Control for Multivariable Systems. A Robustness Result;382
10.4.1;INTRODUCTION;382
10.4.2;PROBLEM FORMULATION AND ROBUSTNESS THEOREM;382
10.4.3;CONCLUDING REMARKS;386
10.4.4;REFERENCES;386
10.4.5;APPENDIX;386
10.5;Chapter 49. Investigation of an Adaptive Smith Controller by Simulation;388
10.5.1;INTRODUCTION;388
10.5.2;THE SMITH PREDICTOR;388
10.5.3;SIMULATION RESULTS;390
10.5.4;CONCLUSION;391
10.5.5;REFERENCES;391
10.6;Chapter 50. A Comparison of Several Single Variable Parameter Adaptive Controllers;394
10.6.1;INTRODUCTION;394
10.6.2;DISCRETE-TIME PLANT;394
10.6.3;CONTROLLER DESIGNS;394
10.6.4;SIMULATION RESULTS;397
10.6.5;CONCLUSION;400
10.6.6;REFERENCES;400
10.6.7;ACKNOWLEDGEMENTS;401
10.7;Chapter 51. Adaptive Tracking Algorithms and their Implementation on a Signal Processor;402
10.7.1;1. INTRODUCTION;402
10.7.2;2. OVERALL DESCRIPTION OF THE CONTROL STRUCTURE AND OF ITS ADVANTAGES;402
10.7.3;3. CONTROL LAW;402
10.7.4;4. SETTING UP OF THE ADAPTIVE CONTROL SCHEME;403
10.7.5;5. SIMULATION RESULTS;404
10.7.6;6. CONCLUSION;404
10.7.7;REFERENCES;404
10.8;Chapter 52. An On-line Comparison of Two Multivariable Self-tuning Controllers;406
10.8.1;INTRODUCTION;406
10.8.2;MULTIVARIABLE SYSTEM REPRESENTATION;406
10.8.3;MULTIVARIABLE SELF-TUNING CONTROL;407
10.8.4;EXPERIMENTAL INVESTIGATION;408
10.8.5;RESULTS AND DISCUSSION;409
10.8.6;COMMENTS ON CONTRCLLER IMPLEMENTATION;410
10.8.7;CONCLUSION;411
10.8.8;ACKNOWLEDGEMENTS;411
10.8.9;REFERENCES;411
10.9;Chapter 53. A Program Structure Based on Exception Handling for Variable Structure Control Systems;414
10.9.1;INTRODUCTION;414
10.9.2;EXCEPTION HANDLING IN REAL TIME PROGRAMS;414
10.9.3;PROGRAM STRUCTURE BASED ON EXCEPTION HANDLING;416
10.9.4;VARIABLE STRUCTURE CONTROL SYSTEMS;416
10.9.5;CONCLUSIONS;418
10.9.6;REFERENCES;418
10.9.7;APPENDIX;419
10.10;Chapter 54. A Self-tuning Feedforward Controller for Mimo Discrete Time Systems;420
10.10.1;INTRODUCTION;420
10.10.2;DERIVATION OF CONTROLLER STRUCTORE;421
10.10.3;SELF-TUNING FEEDFORWARD CONTROLLER;422
10.10.4;SIMULATION RESULTS;423
10.10.5;CONCLUSIONS;423
10.10.6;REFERENCES;424
10.10.7;APPENDIX;424
10.11;Chapter 55. Adaptive Extremum Control by the Parametric Volterra Model;426
10.11.1;INTRODUCTION;426
10.11.2;THE PARAMETRIC VOLTERRA HODEL;426
10.11.3;ON-LINE, RECURSIVE IDENTIFICATION;427
10.11.4;EXTREMUM CONTROL;428
10.11.5;CONTROL STRATEGY;428
10.11.6;SIMULATIONS RESULTS;428
10.11.7;CONCLUSION;431
10.11.8;REFERENCES;431
10.12;Chapter 56. A Max-min Algorithm for an On-line DDC System;432
10.12.1;INTRODUCTION;432
10.12.2;THE QUADRATIC INDEX AND THE PROPERTIES OF WEIGHT MATRIX;432
10.12.3;PROBLEM FORMULATION;433
10.12.4;PROBLEM SOLUTION;433
10.12.5;AN EQUATION FOR THE OPTIMAL VALUE OF Q;433
10.12.6;ALGORITHMIC CONVERSION CURVE AND ORIGINATING POINT OF DECELERATION;434
10.12.7;DDC ON-LINE, REAL-TIME ALGORITHMS;435
10.12.8;CONCLUSION;435
10.12.9;ACKNOWLEDGEMENTS;435
10.12.10;REFERENCES;435
10.13;Chapter 57. A New Algorithm for State Estimator of Queue in Urban Traffic Computer Control System;438
10.13.1;INTRODUCTION;438
10.13.2;QUEUE MODEL AND MINIMUM SQUARE ERROR ESTIMATION;438
10.13.3;IMPROVED QUEUING MODEL AND STATE ESTIMATOR;440
10.13.4;PROCEDURE OF THE ALGORITHM;442
10.13.5;TEST RESULTS AND COMMENTS;442
10.13.6;CONCLUSION;442
10.13.7;REFERENCES;442
10.14;Chapter 58. Industrial Requirements for Performance Indices of Interactive Controller Design Packages;444
10.14.1;1. INTRODUCTION;444
10.14.2;2. INTERACTIVE HANDLING OF IVEPO;445
10.14.3;3. DISCUSSION OF APPROPRIATE PERFORMANCE INDICES;446
10.14.4;4. APPLICATION EXAMPLE;447
10.14.5;SUMMARY;447
10.14.6;REFERENCES;447
10.15;Chapter 59. Suboptimal Decentralized Load Frequency Control Under Nbn-Linearity and Structural Purturbation;450
10.15.1;INTRODUCTION;450
10.15.2;LOAD FREQUENCY CONTROL OBJECTIVES;450
10.15.3;CONTROLLER DESIGN USING OVERLAPPING TECHNIQUE UNDER STRUCTURAL PURTURBATION;450
10.15.4;APPLICATION TO LOAD FREQUENCY CONTROL;451
10.15.5;SIMULATION;452
10.15.6;CONCULUSION;452
10.15.7;REFERENCES;453
10.16;Chapter 60. The Development of the Software for a Microprocessor-based Multivariable Controller;456
10.16.1;INTRODUCTION;456
10.16.2;FUNCTIONAL REQUIREMENTS OF THE SOFTWARE;457
10.16.3;THE REAL-TIME EXECUTIVE;457
10.16.4;DEVELOPMENT OF THE SOFTWARE;457
10.16.5;TESTING OF THE SOFTWARE;458
10.16.6;CONCLUSIONS;459
10.16.7;ACKNOWLEDGEMENT;459
10.16.8;REFERENCES;459
10.17;Chapter 61. A Direct Adaptive Controller for Non-minimum Phase Multivariable Systems with Arbitrary Time Delays;462
10.17.1;INTRODUCTION;462
10.17.2;PARAMETRIZATION OF THE PLANT AND DESIGN OBJECTIVE;462
10.17.3;THE CONTROL LAW;463
10.17.4;MAIN PROPERTIES OF THE ADAPTIVE CONTROLLER;464
10.17.5;NECESSARY A PRIORI KNOWLEDGE;465
10.17.6;BOUNDED CONTROL INPUTS (ANTI-WIND-UP);465
10.17.7;IMPLEMENTATION;465
10.17.8;SIMULATION RESULTS;466
10.17.9;CONCLUSION;466
10.17.10;ACKNOWLEDGEMENT;467
10.17.11;REFERENCES;467
10.18;Chapter 62. An Algorithm for the Design of Pseudodecoupling Digital Controllers;468
10.18.1;I. INTRODUCTION;468
10.18.2;II. PSEUDODECOUPLING METHOD;469
10.18.3;III. A NEW ALGORITHM TO CALCULATE Mj AND Sj;470
10.18.4;IV. EXAMPLE;471
10.18.5;V. CONCLUSIONS;472
10.18.6;REFERENCES;472
10.19;Chapter 63. Computer-aided Design of Multivariable Stochastic Control Systems with A-Priori Prescribed Dynamical Properties;474
10.19.1;INTRODUCTION;474
10.19.2;THE STRUCTURE OF THE CONTROL SYSTEM;475
10.19.3;SOLUTION OF THE CONTROL PROBLEM;477
10.19.4;AN EXAMPLE;478
10.19.5;CONCLUDING REMARKS;480
10.19.6;REFERENCES;480
10.20;Chapter 64. Complete System and Signal Identification of Mimo Closed Loop Systems in the Frequency Domain;482
10.20.1;INTRODUCTION;482
10.20.2;NOTATIONS AND ASSUMPTIONS;482
10.20.3;DERIVATION OF THE COMPLETE SOLUTION FOR THE CORRELATION METHOD;483
10.20.4;SOLUTIONS FOR THE OTHER THREE METHODS;484
10.20.5;IDENTIFICATION PACKAGE IMSCLF;484
10.20.6;CONCLUSIONS;486
10.20.7;LITERATURE;486
10.21;Chapter 65. Optimal Control of Multi-time-scale Systems Through a Multi-model Representation;488
10.21.1;INTRODUCTION;488
10.21.2;SOME WELL-KNOWN RESULTS ON SINGULAR PERTURBATION METHOD;488
10.21.3;SINGULAR PERTURBATIONS AND RECIPROCAL TRANSFORMATION;489
10.21.4;APPLICATION TO DECENTRALIZED CONTROL;491
10.21.5;IMPLEMENTATION ON AN EXAMPLE;492
10.21.6;CONCLUSION;493
10.21.7;REFERENCES;493
10.22;Chapter 66. Optimization of a Chemical Plant: The Reasonableness of Stating the Problem and the Specifics of its Solution;494
10.22.1;1. INTRODUCTION;494
10.22.2;2. PROBLEM STATEMENT;494
10.22.3;3. STAGES OF SYSTEM DESIGN;495
10.22.4;4. EXPRESS-METHOD FOR ESTIMATING THE REASONABLENESS OF THE DESIGN;496
10.22.5;5. DEFINITION OP THE INITIAL SET OF LINEARIZED INSTALLATION MODELS;497
10.22.6;6. ESTIMATION OF PERMISSIBLE ERRORS IN MODELLING THE INSTALLATIONS;497
10.22.7;7. SELECTION OF THE INSTALLATION MODEL STRUCTURES;498
10.22.8;8. IDENTIFICATION OF PARAMETERS (COEFFICIENTS) OF THE INSTALLATION MODELS;499
10.22.9;CONCLUSION;500
10.22.10;REFERENCES;500
10.23;Chapter 67. Process-control Task Scheduling: A Deterministic Approach with Shared Resources;502
10.23.1;INTRODUCTION;502
10.23.2;A MODEL OF TASK EXECUTION SYSTEM;503
10.23.3;MORE ASSUMPTIONS;503
10.23.4;RESOURCE SHARING MODEL;504
10.23.5;GAIN INDICES: THE HIGH-LEVEL GOAL ATTAINMENT MEASURES;505
10.23.6;SCHEDULING OPTIMIZATION;506
10.23.7;CONCLUSION;507
10.23.8;REFERENCES;507
10.24;Chapter 68. Identification and Adaptive Control of Wiener Type Nonlinear Processes;508
10.24.1;INTRODUCTION;508
10.24.2;WlENER MODEL;508
10.24.3;IDENTIFICATION;509
10.24.4;ADAPTIVE CONTROL;511
10.24.5;CONCLUSIONS;513
10.24.6;REFERENCES;513
10.25;Chapter 69. Parameter Weighted Least Squares Fitting;516
10.25.1;I. INTRODUCTION;516
10.25.2;II. USING ESTIMATED PARAMETERS FOR CONTROL DESIGN;516
10.25.3;III. REVIEW OF THE CLASSICAL LEAST SQUARES FITTING;517
10.25.4;IV. PWLS FITTING ALGORITHM;517
10.25.5;V. IDENTIFICATION OF A SECOND ORDER SYSTEM;519
10.25.6;CONCLUSIONS;519
10.25.7;REFERENCES;519
10.26;Chapter 70. Application of Parameter Estimation Methods to Time Variant Systems;522
10.26.1;INTRODUCTION;522
10.26.2;STATEMENT OF THE PROBLEM;523
10.26.3;RECURSIVE IDENTIFICATION ALGORITHMS;523
10.26.4;RECURSIVE IDENTIFICATION BY ASTROEM AND MAYNE;524
10.26.5;DETECTION OF PARAMETER VARIATION;524
10.26.6;REACTION ON A PARAMETER VARIATION;525
10.26.7;CONCLUSIONS;526
10.26.8;REFERENCES;526
10.27;Chapter 71. Task Oriented Identification of the Process Model;528
10.27.1;INTRODUCTION;528
10.27.2;FORMULATION OF THE PROBLEM;529
10.27.3;EXAMPLES OF APPLICATIONS;530
10.27.4;NUMERICAL EXAMPLE;533
10.27.5;CONCLUSIONS;533
10.27.6;APPENDIX;534
10.27.7;REFERENCES;534
10.28;Chapter 72. Discrete Event Dynamic System Analysis Using Nonhomogeneous Elements Representation;536
10.28.1;INTRODUCTION;536
10.28.2;FUNDAMENTAL NOTIONS;536
10.28.3;ALGEBRAIC STRUCTURES;537
10.28.4;THE DEDS ANALYSIS;539
10.28.5;"MAN-MACHINE" SYSTEMS;540
10.28.6;CONCLUSION;541
10.28.7;REFERENCES;541
10.29;Chapter 73. Parallel Processing for Simulation of Dynamical Systems;542
10.29.1;INTRODUCTION;542
10.29.2;PARALLEL PROCESSING SCHEME;543
10.29.3;DISCUSSION AND CONCLUSION;547
10.29.4;ACKNOWLEDGEMENTS;547
10.29.5;REFERENCES;547
10.30;Chapter 74. Multi-stratum Recursive Linearization Prediction Method and its Application in the Oil Field;548
10.30.1;INTRODUCTION;548
10.30.2;THE MULTI-STRATUM LINEAR MODEL DESCRIPTION OF NON-LINEAR PHENOMANA;548
10.30.3;APPLICATION IN OIL FIELD;551
10.30.4;APPENDIX;551
10.30.5;REFERENCES;553
10.31;Chapter 75. How to Develop Reliable Microprocessor Software Systems for Process Control;554
10.31.1;1 Introduction;554
10.31.2;2 The software, the central problem;554
10.31.3;3 Universal development systems, the necessary aids;555
10.31.4;4 The realisation of the requirements in the CAMIC/S system;555
10.31.5;5 Experience with CAMIC/S in industrial use;558
10.31.6;APPLICATION;558
10.31.7;Summary;559
10.32;Chapter 76. A Design Method for Sampled-data Decoupled Control Systems with Multirate Sampling Periods;560
10.32.1;1. INTRODUCTION;560
10.32.2;2. PARTIAL MODEL MATCHING METHOD AND A REFERENCE MODEL;560
10.32.3;3. MULTIRATE SAMPLED-DATA I-PD CONTROL;561
10.32.4;4. SIMULATION TESTS;562
10.32.5;5. RESULTS AND DISCUSSION;563
10.32.6;6. CONCLUSION;563
10.32.7;REFERENCES;563
10.33;Chapter 77. A Flexible Real Time Concept for Various Control Requirements;568
10.33.1;INTRODUCTION;568
10.33.2;THE PACKAGE CONCEPTION;568
10.33.3;THE GENERAL MOPS REPRESENTATION;570
10.33.4;SPECIAL FEATURES;571
10.33.5;THE INTERFACE ROUTINE;572
10.33.6;A MOPS OPERATION EXAMPLE;572
10.33.7;CONCLUSIONS;573
10.33.8;REFERENCES;573
10.34;Chapter 78. A Real-time Software System for Modula-2 Programs;574
10.34.1;INTRODUCTION;574
10.34.2;TASK HANDLING;574
10.34.3;TIMING;575
10.34.4;INPUT-OUTPUT MODULES;575
10.34.5;APPLICATION;575
10.34.6;PROGRAM STRUCTURE;576
10.34.7;CONCLUSIONS;577
10.34.8;REFERENCES;577
10.34.9;APPENDIX B. PARTIAL LISTING OF APPLICATION PROGRAM;579
10.35;Chapter 79. A Workstation Concept for Computer Aided Analysis and Design of Control Systems;580
10.35.1;INTRODUCTION;580
10.35.2;KEDDC IN BRIEF;580
10.35.3;CONCURRENT USER ENVIRONMENT;581
10.35.4;INTERACTIVE OPERATION;581
10.35.5;GRAPHICS;582
10.35.6;SCREEN LAYOUT;582
10.35.7;CONCLUSIONS;582
10.35.8;REFERENCES;583
10.36;Chapter 80. A Communications Model for the CTD Interconnection Strategy;584
10.36.1;INTRODUCTION;584
10.36.2;PROCESSING ELEMENT MODEL;584
10.36.3;COMPUTATIONAL MODEL;585
10.36.4;CONCLUSIONS;586
10.36.5;REFERENCES;586
10.37;Chapter 81. Distributed On-line Digitized Control Architectures for Process Control;590
10.37.1;1. INTRODUCTION;590
10.37.2;2. DISTRIBUTED TASKS IN PROCESS CONTROL;590
10.37.3;3. ISO STANDARD PROPOSALS AND PROCESS CONTROL;591
10.37.4;4. IEEE-802 PROPOSALS AND PROCESS CONTROL;592
10.37.5;5. ENHANCEMENTS TO TRANSMISSION PROTOCOLS AT LEVEL 1 AND 2 FOR HARD REAL-TIME ENVIRONMENTS;592
10.37.6;6. HARD REAL-TIME DISTRIBUTED OPERATING SYSTEMS SERVICES;593
10.37.7;REFERENCES;594
10.38;Chapter 82. Decentralized Microprocessor Process-control System;596
10.38.1;INTRODUCTION;596
10.38.2;2. SYSTEM ARCHITECTURE;596
10.38.3;3.SMALL LOCAL AREA NETWORK OF THE SYSTEM;597
10.38.4;4. DISTRIBUTED REAL-TIME OPERATING SYSTEM;598
10.38.5;5. SYSTEM APPLIED SOFTWARE;599
10.38.6;6. COMPUTER-AIDED DESIGN OF SYSTEM APPLIED SOFTWARE;599
10.38.7;CONCLUSION;600
10.38.8;REFERENCES;600
10.39;Chapter 83. Computer Systems Communication in a Steel Works with a Standardized Network;602
10.39.1;INTRODUCTION;602
10.39.2;COMPUTER SYSTEM IN STEEL WORKS;602
10.39.3;NETWORK SYSTEM;602
10.39.4;S-NET;602
10.39.5;APPLICATION OF S-NET;603
10.39.6;FUTURE DEVELOPMENT;604
10.39.7;CONCLUSION;604
10.39.8;REFERENCES;604
10.40;Chapter 84. The Automatic Task Solution in an Information-control Complex of a Distributed System;610
10.40.1;INTRODUCTORY REMARKS;610
10.40.2;FUNCTIONAL ACTIVITY OF THE ICC OF A DISTRIBUTED SYSTEM;611
10.40.3;ILLUSTRATION OF ATSS SIMULATION;613
10.40.4;CONCLUSION;616
10.40.5;REFERENCES;617
11;Author Index;618
12;Subject Index;620
