Embedded Model Control: outline of the theory.

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.
• 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.