8.1. Introduction to Model-Based Control

In the previous chapters we focused on techniques to tune PID controllers. The closed-loop oscillation technique developed by Ziegler and Nichols did not require a model of the process. Direct synthesis, however, was based the use of a process model and a desired closed-loop response to synthesize a control law; often this resulted in a controller with a PID structure. In this chapter we develop a model-based procedure, where a process model is “embedded” in the controller. By explicitly using process knowledge, by virtue of the process model, improved performance can be obtained.

Consider the stirred-tank heater control problem shown in Figure 8-1. We can use a model of the process to decide the heat ...

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