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Process Control: Modeling, Design, and Simulation by B. Wayne Bequette

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8.9. Effect of Model Uncertainty and Disturbances

For controller design purposes, we assumed that the model was perfect. In practice there is model uncertainty. Model uncertainty will be handled by detuning the filter parameter, λ, for robustness.

The Effect of Model Uncertainty on Setpoint Response

Consider a setpoint change only; then

We can see immediately that if the model is perfect , then we have the open-loop “control” formulation. When the model is not perfect, then the closed-loop response is much more complicated and can even be unstable ...

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