Specifications

vii
More Manipulated Variables Than Outputs . . . . . . . . . . . . 3-59
Designing Controllers Using the Command Line
4
Design Controller at the Command Line . . . . . . . . . . . . . . . . 4-2
Create a Controller Object . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
View and Alter Controller Properties . . . . . . . . . . . . . . . . . . 4-3
Review Controller Design . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
Perform Linear Simulations . . . . . . . . . . . . . . . . . . . . . . . . . 4-6
Save Calculated Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8
Simulate Controller with Nonlinear Plant . . . . . . . . . . . . . . . 4-9
Nonlinear CSTR Application . . . . . . . . . . . . . . . . . . . . . . . . . 4-9
Example Code for Successive Linearization . . . . . . . . . . . . . 4-10
CSTR Results and Discussion . . . . . . . . . . . . . . . . . . . . . . . 4-12
Control Based On Multiple Plant Models . . . . . . . . . . . . . . . 4-15
A Two-Model Plant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-15
Designing the Two Controllers . . . . . . . . . . . . . . . . . . . . . . 4-17
Simulating Controller Performance . . . . . . . . . . . . . . . . . . . 4-18
Compute Steady-State Gain . . . . . . . . . . . . . . . . . . . . . . . . . . 4-24
Extract Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-25
Bibliography . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-26
Signal Previewing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-27
Run-Time Constraint Updating . . . . . . . . . . . . . . . . . . . . . . . 4-28
Run-Time Weight Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-29