Robust optimization control for turbidity process with large inertia and time-delay in waterworks

To address the difficulty of optimizing turbidity process with large inertia and long time delay, a twice-optimal control and construction pruning (TOCCP) strategy is proposed, which can be used to improve the fast stability and strong robustness of industrial process. The new approach owns the advantages of twice optimal control (TOC) and construction pruning (CP) method. The TOC constructs an infinite-dimensional state observer of the system, which can eliminate the influence of time delay on the system. The CP is adopted to improve the mid-band damping of the open-loop frequency characteristics to improve the robustness of the system. Moreover, an exhaustive algorithm is designed to find the optimal time scale, the most important parameter for adjusting the system response speed. In addition, the influences of different parameter changes on the robustness of the system are analyzed, and a practical parameter tuning formula is provided. Simulation-based comparisons of TOCCP and the other two algorithms were made. The results show that the system optimized by TOCCP has strong robustness, especially in disturbances rejection and set-point tracking. Moreover, TOCCP is practical and easily implemented to set parameters, providing guidelines for industrial application of large inertia and time-delay systems.