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3 Designing Controllers Using the Design Tool GUI

3-38

CSTR Disturbance 1 Scenario

Copy Disturbance 1. Rename the copy Disturbance 2, and set its Controller option to

OutputSteps.

If necessary, close any open simulation plot windows. Simulate both scenarios. CSTR

Outputs for Disturbance Scenarios 1 and 2 and CSTR Inputs for Disturbance Scenarios 1

and 2 show the results.

CSTR Outputs for Disturbance Scenarios 1 and 2 shows that default controller (case 1)

returns to the setpoint in less than one third the time required by the modified controller

(case 2). Its maximum deviation from the setpoint is also 10% smaller. CSTR Inputs for

Disturbance Scenarios 1 and 2 shows that in both cases the input moves are smooth and

of reasonable magnitude. (It also shows the input disturbance.)

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MATLAB MODEL PREDICTIVE CONTROL TOOLBOX - S Especificações Página 88