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Multi-model adaptive control



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8 07f W Jul162004 model Prod Type FTP pp 1210 col fig NIL CONPRA 2141 ED SwarnaR PAGN sree SCAN ARTICLE IN PRESS 1 3 Control Engineering Practice www elsevier com locate conengprac 5 7 Multi model adaptive control of a simulated pH neutralization process 9 Jari M Bo linga Dale E Seborgb Joa o P Hespanhac 11 a Process Control Laboratory A bo Akademi University Finland Department of Chemical Engineering University of California Santa Barbara USA c Department of Electrical and Computer Engineering University of California Santa Barbara USA b 13 Received 27 February 2006 accepted 24 November 2006 15 Abstract O 19 F 17 25 Keywords Adaptive control Switching control Multiple models PID control 27 29 41 43 45 47 49 51 53 55 57 TE EC R R 39 O 37 C 35 N 33 Many industrial processes inevitably change over time for a variety of reasons that include equipment changes different operating conditions or changing economic conditions Consequently a fundamental control problem is how to provide effective control of complex processes where signi cant process changes can occur but cannot be measured or anticipated The conventional solution is conservative controller tuning for worst case conditions However this approach can result in poor control system performance for more typical conditions Alternatively adaptive control strategies are available where the controller parameters and or control structure are modi ed online as conditions change A stro m Wittenmark 1995 This paper is concerned with a special class of adaptive control strategies referred to as switching control or multimodel adaptive control Angeli Mosca 2002 Freidovich Khalil 2003 Hespanha 2001 Johansen MurraySmith 1997 Morse 1996 Narendra Balakrishnan 1997 The motivation for multi model control is that for many complex technical processes the local behavior can be captured at least approximately by a set of relatively simple models Also a corresponding feedback controller U 31 can be designed for each individual model



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