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Embedded Model Control: outline of the theory.

Enrico Canuto¹

¹Politecnico di Torino, Dipartimento di Automatica e Informatica, Corso Duca degli Abruzzi 24, 10129 Torino, Italy. enrico.canuto@polito.it

ISA Transactions

|April 17, 2007

Summary

Embedded Model Control systematically designs control algorithms by defining controllable dynamics, disturbances, and neglected dynamics. The

Area of Science:

Control Engineering
System Dynamics
Model-Based Design

Background:

Systematic design of control algorithms requires a structured approach.
Embedded Models (EM) are central to control design, integrating plant dynamics and requirements.
Distinguishing between noise and system dynamics is crucial for effective control.

Purpose of the Study:

To present a systematic methodology for Embedded Model Control design.
To define the components of an Embedded Model: controllable dynamics, disturbance class, and neglected dynamics.
To introduce the 'error loop' concept for discriminating error sources and ensuring stability.

Main Methods:

Defining controllable and disturbance dynamics observable from plant measurements.

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Designing control algorithms based on controllable and disturbance dynamics.

Utilizing the 'error loop' concept to map error sources and identify destabilizing factors.

Analyzing neglected dynamics to ensure stability and performance constraints.

Main Results:

A systematic procedure for developing Embedded Models (EM) from plant dynamics and control requirements.
The 'error loop' concept effectively maps error sources to performance and aids in discriminating destabilizing dynamics.
Analytical and simulated results demonstrate the practical application of the proposed design steps.

Conclusions:

Embedded Model Control provides a systematic framework for control system design.
The 'error loop' is a key tool for ensuring stability and performance by managing uncertainties and disturbances.
This approach facilitates the development of robust control algorithms through a clear definition of model components.