Measurable Disturbances Compensation: Analysis and Tuning of Feedforward Techniques for Dead-Time Processes
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Author/sPawlowski, Andrzej; Rodríguez, Carlos; Guzmán Sánchez, José Luis; Berenguel Soria, Manuel; Dormido Bencomo, Sebastián
In this paper, measurable disturbance compensation techniques are analyzed, focusing the problem on the input-output and disturbance-output time delays. The feedforward compensation method is evaluated for the common structures that appear between the disturbance and process dynamics. Due to the presence of time delays, the study includes causality and instability phenomena that can arise when a classical approach for disturbance compensation is used. Different feedforward configurations are analyzed for two feedback control techniques, PID (Proportional-Integral-Derivative) and MPC (Model Predictive Control) that are widely used for industrial process-control applications. The specific tuning methodology for the analyzed process structure is used to obtain improved disturbance rejection performance regarding classical approaches. The evaluation of the introduced disturbance rejection schemes is performed through simulation, considering process constraints in order to highlight the adv...