Constraints: 2000 Output of The System

Constraints
Output of the system

2000
1500
1000
500
0
10
15
20
25
30
35
40
45
50
55
60
35
40
45
50
55
60
35
40
45
50
55
60
Input of the system

300
200
100
0
10
15
20
25
30
Dist
300
250
200
150
100
10
15
20
25
30
Figure1: Perfect Disturbance prediction

O
utputofthesystem
2000
1500
1000
500
0
10
15
20
25
30
35
40
4
5
50
55
60
35
40
4
5
50
55
60
35
40
4
5
50
55
60
Inputofthesystem
300
200
100
0
10
15
20
25
30
D
ist
300
250
200
150
100
10
15
20
25
30
Figure 2: Prediction using the d(i)=difference between past model and

measurements result
When u=umax, with constant disturbance; the output (y) obtained may
not follow reference. It depends on the initial value of output i.e. if initial
value of y is zero then the output is zero. If initial value is greater than
the reference by more than the disturbance (yinit>yref) then the output
follows the reference.
2000
1500
1000
500
0
10
15
20
25
30
35
40
45
50
55
60
35
40
45
50
55
60
35
40
45
50
55
60
40
45
50
55
60
35
40
45
50
55
60
35
40
45
50
55
60
Input of the system

200
150
100
50
0
10
15
20
25
30
Dist
201
200.5
200
199.5
199
10
15
20
25
30
Initial y=0, output remains at zero, u=umax=200

O
utput of thesystem
2000
1500
1000
500
0
10
15
20
25
30
35
Input of thesystem
200
150
100
50
0
10
15
20
25
30
Dist
201
200.5
200
199.5
199
10
15
20
25
30
Initial y=100, output remains at 100, u=umax=200
Output of thesystem
2000
1500
1000
500
0
10
15
20
25
30
35
40
45
50
55
60
35
40
45
50
55
60
35
40
45
50
55
60
40
45
50
55
60
35
40
45
50
55
60
35
40
45
50
55
60
Input of the system

200
150
100
50
0
10
15
20
25
30
Dist
201
200.5
200
199.5
199
10
15
20
25
30
Initial y=800, output = 600, u=umax=200

Output of thesystem
2000
1500
1000
500
0
10
15
20
25
30
35
Input of thesystem
200
150
100
50
0
10
15
20
25
30
Dist
201
200.5
200
199.5
199
10
15
20
25
30
Initialy=900, output follows reference =700, u=umax=200
When u>umax; the result is infeasible, the output (y) constraints dont
work and the output goes below zero depending on the value of
reference.
o Increasing the value of the reference makes the output go
above zero with the same inputs
Output of thesystem
2000
1000
0
-1000
10
15
20
25
30
35
40
45
50
55
60
35
40
45
50
55
60
35
40
45
50
55
60
Input of the system

300
200
100
0
10
15
20
25
30
Dist
300
250
200
150
100
10
15
20
25
30
The constraint is smaller than the max value of u. output becomes

infeasible
O
u
tp
u
to
fth
esyste
m
2
0
0
0
1
5
0
0
1
0
0
0
5
0
0
0
1
0
1
5
2
0
2
5
3
0
3
5
4
0
4
5
5
0
5
5
6
0
3
5
4
0
4
5
5
0
5
5
6
0
3
5
4
0
4
5
5
0
5
5
6
0
In
p
u
to
fth
esyste
m
3
0
0
2
0
0
1
0
0
0
1
0
1
5
2
0
2
5
3
0
D
ist
3
0
0
2
5
0
2
0
0
1
5
0
1
0
0
1
0
1
5
2
0
2
5
3
0
Increasing the reference value

Delays
1. Perfect prediction
2000
1500
1000
500
0
10
15
20
25
30
35
40
45
50
55
60
35
40
45
50
55
60
35
40
45
50
55
60
40
45
50
55
60
35
40
45
50
55
60
35
40
45
50
55
60
Input of the system

400
300
200
100
0
10
15
20
25
30
Dist
300
250
200
150
100
10
15
20
25
30

2000
1500
1000
500
0
10
15
20
25
30
35
Input of the system

400
300
200
100
0
10
15
20
25
30
Dist
300
250
200
150
100
10
15
20
25
30
2. Disturbance prediction: d(i)=yplant(i-1)-ymodel(i-1)

2000
1500
1000
500
0
10
15
20
25
30
35
40
45
50
55
60
40
45
50
55
60
40
45
50
55
60
Input of the system

400
300
200
100
0
10
15
20
25
30
35
Dist
300
250
200
150
100
10
15
20
25
30
35
Delays with disturbance prediction
Discrepancy in delay between model and plant

Output of thesystem
800
600
400
200
0
5
10
15
20
25
30
35
40
45
50
55
60
35
40
45
50
55
60
35
40
45
50
55
60
Input of thesystem
400
300
200
100
0
5
10
15
20
25
30
Dist
300
250
200
150
100
10
15
20
25
Yplant(k+1)=yplant(k)+u(k)-dist(k)
30
Ymodel(k+1)=ymodel(k)+u(k)-dist(k)
Output of thesystem
800
600
400
200
0
10
15
20
25
30
35
40
45
50
55
60
35
40
45
50
55
60
35
40
45
50
55
60
Input of thesystem
400
300
200
100
0
10
15
20
25
30
Dist
300
250
200
150
100
10
15
20
25
30
Ymodel(k+1)=ymodel(k)+u(k-1)-dist(k)
Output of thesystem
800
600
400
200
0
10
15
20
25
30
35
40
45
50
55
60
40
45
50
55
60
40
45
50
55
60
Input of the system

400
300
200
100
0
10
15
20
25
30
35
Dist
300
250
200
150
100
10
15
20
25
30
35
Ymodel(k+1)=ymodel(k)+u(k-3)-dist(k)
800
600
400
200
0
10
15
20
25
30
35
40
45
50
55
60
35
40
45
50
55
60
35
40
45
50
55
60
Input of the system

400
300
200
100
0
10
15
20
25
30
Dist
300
250
200
150
100
10
15
20
25
30
Yplant(k+1)=yplant(k)+u(k-1)-dist(k), input calculated in zero

Ymodel(k+1)=ymodel(k)+u(k)-dist(k)
It is better to over-estimate the delays in the model

Constraints: 2000 Output of The System

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Copyright:

Verfügbare Formate

Constraints: 2000 Output of The System

Hochgeladen von

Copyright:

Verfügbare Formate

Constraints

Output of the system

Input of the system

Figure1: Perfect Disturbance prediction

Figure 2: Prediction using the d(i)=difference between past model and

Input of the system

Initial y=0, output remains at zero, u=umax=200

Initial y=100, output remains at 100, u=umax=200

Input of the system

Initial y=800, output = 600, u=umax=200

Initialy=900, output follows reference =700, u=umax=200

Input of the system

The constraint is smaller than the max value of u. output becomes

Increasing the reference value

Input of the system

Output of the system

Input of the system

2. Disturbance prediction: d(i)=yplant(i-1)-ymodel(i-1)

Output of the system

Input of the system

Delays with disturbance prediction

Discrepancy in delay between model and plant

Input of the system

Input of the system

Yplant(k+1)=yplant(k)+u(k-1)-dist(k), input calculated in zero

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