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Design Controller for Plant with Delays

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Design Controller for Plant with Delays

This example shows how to design an MPC controller for a plant with delays.

The Model Predictive Control Toolbox can handle models that include delays. A typical

example is the distillation column model, which includes a delay in each input/output

channel. The presence of delays influences controller performance, and your controller

specifications should account for them.

Create the distillation column plant model.

g11 = tf( 12.8, [16.7 1], 'IOdelay', 1.0,'TimeUnit','minutes');

g12 = tf(-18.9, [21.0 1], 'IOdelay', 3.0,'TimeUnit','minutes');

g13 = tf( 3.8, [14.9 1], 'IOdelay', 8.1,'TimeUnit','minutes');

g21 = tf( 6.6, [10.9 1], 'IOdelay', 7.0,'TimeUnit','minutes');

g22 = tf(-19.4, [14.4 1], 'IOdelay', 3.0,'TimeUnit','minutes');

g23 = tf( 4.9, [13.2 1], 'IOdelay', 3.4,'TimeUnit','minutes');

DC = [g11 g12 g13

g21 g22 g23];

DC.InputName = {'Reflux Rate', 'Steam Rate', 'Feed Rate'};

DC.OutputName = {'Distillate Purity', 'Bottoms Purity'};

DC = setmpcsignals(DC, 'MD', 3);

The largest ioDelay of the DC model delay is 8.1 minutes.

Open the Model Predictive Control Toolbox design tool.

mpctool

Click Import Plant and import the DC model into the tool.

In the tree, select MPC Design Task > Controllers > MPC1.

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MATLAB MODEL PREDICTIVE CONTROL TOOLBOX - S Especificações Página 101