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Measurement noise attenuation in modified Smith predictor and automatic offset controllers for integrator plus

Mikulas Huba1, Pavol Bistak1, Damir Vrancic2,3

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The automatic offset controller (AOC) offers superior performance over the Åström-Smith predictor (ASP) for time-delayed processes, especially with measurement noise. AOC provides simpler and more reliable control, mitigating issues like excessive effort and steady-state errors seen with ASP.

Keywords:
Automatic offset controllerDisturbance observerFiltered Åström-Smith predictorHigher-order derivativesMeasurement noise attenuationMultiple real dominant pole method

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Area of Science:

  • Control Engineering
  • Process Control
  • Automation Systems

Background:

  • The Åström-Smith predictor (ASP) is a modified controller for Integral Proportional Derivative Time (IPDT) models.
  • ASP excels in ideal conditions but struggles with measurement noise, leading to transients and steady-state errors.

Purpose of the Study:

  • To compare the performance of the modified Åström-Smith predictor (ASP) with an automatic offset controller (AOC).
  • To evaluate the controllers' effectiveness in handling measurement noise and time-delayed processes.

Main Methods:

  • The automatic offset controller (AOC) combines a higher-order stabilizing controller (SC) with a full disturbance observer (DOB).
  • The disturbance observer (DOB) compensates for dead-time and integral modes.
  • Adjusting the order of derivatives in the SC and low-pass filters in both SC and DOB enhances AOC performance.

Main Results:

  • AOC demonstrates significant improvements in speed, robustness, and measurement noise attenuation for time-delayed processes.
  • Even with noise filtering, ASP can exhibit permanent control errors or instability at higher noise amplitudes.
  • AOC proves simpler and more reliable than ASP, especially when dealing with measurement noise.

Conclusions:

  • AOC is a simpler and more reliable universal controller for processes with dominant first-order dynamics compared to ASP.
  • The effectiveness of ASP as a universal controller depends heavily on the amplitude of measurement noise.
  • AOC's performance requires careful selection of derivatives and tuning of low-pass filters, but offers superior robustness.