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Feedforward Control

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144 views6 pages

Feedforward Control

Uploaded by

Hamid
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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GRADUATE

José Luis Guzmán, Tore Hägglund

FEEDFORWARD CONTROL
FEEDFORWARD
While there are thousands of books written about feedback control, it is surprising
that this is the very first book about feedforward control. Feedforward control is a
very powerful technique to compensate for measurable load disturbances in regula-
tion control problems, and the use of feedforward control to assist the traditional

CONTROL
feedback controllers is rapidly increasing in industry. The main goal of this book is
to describe the power of feedforward control and to present different tuning rules
for these controllers. To achieve this goal, theoretical and practical contributions are
presented throughout the book to make the technique understandable and easy to
implement. The book contains many practical aspects, both in terms of tuning and ANALYSIS, DESIGN, TUNING RULES,
implementation of the feedforward controller. Many simulation examples are also
provided, as well as a presentation of industrial experiences obtained from feed- AND IMPLEMENTATION
forward control applied to temperature control in greenhouses. For these reasons,
we believe that the book will be useful not only at various levels in the teaching
systems, but also for engineers working in industry.

 First book on the market exclusively about feedforward control.


 Includes the analysis of 15 different tuning rules as solutions to specific inversion
problems.
 Presents simulated case studies as well as industrial greenhouse temperature
control applications.
 Provides detailed implementation instructions that simplify the implementation
and use of feedforward control.

José Luis Guzmán Tore Hägglund


is professor of automatic is professor of automatic
control at University of control at Lund University,
Almería, Spain. His expertise Sweden. He has extensive
is in process control with experience in research,
applications to biotechnology, development, and education
solar plants and agricultural of control technology in close
systems. collaboration with the process
industry.

www.degruyter.com
ISBN 978-3-11-142930-4
José Luis Guzmán, Tore Hägglund

Feedforward
Control

Analysis, Design, Tuning rules, and Implementation


Authors

Prof. José Luis Guzmán


Universidad de Almería
Departamento de Informática
Ctra. Sacramento s/n
04120 Almería
Spain
joseluis.guzman@ual.es

Prof. Tore Hägglund


Västgötavägen 9
SE-222 25 Lund
Sweden
tore.hagglund@control.lth.se

ISBN 978-3-11-142930-4
e-ISBN (PDF) 978-3-11-142948-9
e-ISBN (EPUB) 978-3-11-142998-4

Library of Congress Control Number: 2024936944

Bibliographic information published by the Deutsche Nationalbibliothek


The Deutsche Nationalbibliothek lists this publication in the Deutsche Nationalbibliografie;
detailed bibliographic data are available on the Internet at http://dnb.dnb.de.

© 2024 Walter de Gruyter GmbH, Berlin/Boston


Cover image: Margret Bauer
Printing and binding: CPI books GmbH, Leck

www.degruyter.com
Preface
In March 2010 we had a meeting in Almería together with professor Sebastián Dormido,
where we discussed the development of an interactive tool for understanding feedfor-
ward control. At some point, Sebastián Dormido said “I have never seen a tuning rule for
feedforward compensators, as we have for PID controllers”. To our surprise, and thanks
to Sebastián’s comment, we realized quite soon that there simply were no relevant tun-
ing rules for feedforward compensators presented in the literature.
This fact started a very active and very fun research period for us. After three
months, in June 2010, we submitted a paper that presented the first tuning rule for
feedforward compensators based on reasonable process dynamics. The research was
continued not only by us but also by colleagues and Ph.D. students, and now there are
around fifteen tuning rules with different properties available. After this very special
decade, we decided to summarize the results obtained so far by writing this book.
We took the decision to write the book in November 2019. Since then, we have been
working closely together on an enthusiastic and fascinating journey, with nice discus-
sions and meetings in Lund, Almería, and online. During this period, we continued learn-
ing about feedforward control and new ideas arose, which are also part of this book.
Feedforward control is a technique that has not received nearly as much attention
as feedback control, despite the fact that feedforward from measurable disturbances
has been demonstrated to provide dramatically improved control performance in many
cases. It is our hope that this book will stimulate an increased interest in feedforward
control and an increased research in the field. The book contains many practical aspects,
both in terms of tuning and implementation issues. Therefore, we believe that the book
will also be useful for engineers working in industry.
We would like to thank Sebastián Dormido, Karl Johan Åström, Manolo Berenguel,
Antonio Visioli, Max Veronesi, Carlos Rodríguez, Francisco Rodríguez, Martin Hast, Án-
geles Hoyo, José Carlos Moreno, Julio E. Normey-Rico, Francisco García-Mañas, Ana
Paola Montoya-Ríos, Ernesto Aranda-Escolástico, and Margret Bauer for their collabo-
ration and discussions on the ideas presented in this book. Special thanks to Margret
Bauer for making the nice cover drawing.

Almería, March 2024 José Luis Guzmán


Lund, March 2024 Tore Hägglund

https://doi.org/10.1515/9783111429489-202
Contents
Preface � V

1 Introduction � 1

2 Load disturbance rejection problem � 6


2.1 Control structure and assumptions � 6
2.2 Feedback control analysis � 8
2.3 Conclusions � 13

3 Feedforward control � 14
3.1 Basis of feedforward control � 14
3.2 Inversion problems � 17
3.3 Classical solutions to inversion problems � 20
3.4 New solutions to the inversion problems � 23

4 Tuning rules for delay inversion problems � 25


4.1 Preliminaries � 25
4.2 Tuning rules for classical control scheme � 28
4.3 Tuning rules for non-interacting control scheme � 52
4.4 Tuning rules – Summary and comparison � 58

5 Tuning rules for RHP zeros and integrators � 73


5.1 Tuning rules for processes with right-half plane zeros � 73
5.2 Tuning rules for integrating processes � 77

6 Performance indices for feedforward control � 83


6.1 Performance index � 83
6.2 Examples and analysis � 87

7 Feedforward implementation � 96
7.1 Basic implementation of feedforward control � 97
7.2 Control signal saturation � 100
7.3 Improved feedforward saturation handling � 107
7.4 Mode switching and bumpless transfer � 109
7.5 Noise filtering � 116
7.6 Feedforward combined with cascade control � 118
7.7 Smith Predictor � 127
7.8 Robustness � 129
VIII � Contents

8 Case studies � 131


8.1 Two-tank level system � 131
8.2 Solar collector field � 132
8.3 Room temperature � 134
8.4 Jacket reactor temperature � 135
8.5 DC motor position � 138

9 Experimental evaluation � 140


9.1 Greenhouse temperature control problem � 140
9.2 Greenhouse description � 141
9.3 Low-order models for control purposes � 142
9.4 Calculation of the feedback controller and the feedforward
compensators � 144
9.5 Experimental control tests at the greenhouse � 147
9.6 Discussion � 155

Tuning rules summary � 157

Bibliography � 160

Index � 163

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