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????? ?? ??????????? ???? ???? ?? ???? ????? ????? ?? ?? ... Mees(1981) Munro(1985,1987) ??????? ?? ??? ???? ????. ??? ????- ????????. ????: ifg = finv(w,fg) ... – PowerPoint PPT presentation

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Title: mbarkhordary@ee.iust.ac.ir


1
Design a Multivariable Controller for the
Quadruple-Tank Process
INA DNA Methods
mbarkhordary_at_ee.iust.ac.ir
????? ?????????
2
?????
  • ???? ???? ???
  • ????? ?? ??????????? ???? ???? ?? ???? ?????
    ????? ?? ?? ?????? ???? ????
  • ????? ? ????? ?? ??? .C.L
  • ???? ????? ?? ????? ????????? ????? ?????
  • ?? ??????? ?????? ?? ???? ????? ?? ???? ?????
    ?????????
  • ??????????
  • ???? ????? ???? ???? ?????
  • ???? ????? ???? ????? ?? ??? ???? ????

3
?????? ???????????
?? ?????? ?????
???????? ?????????? ? ???? ?? ????? ? ???????
??? ??
???? Rosenbrock (1970)
  • ????? ?? ????????
  • ???? ???? ???? ?????? ????????
  • ????? ??????????????? SISO ???? ?? ???? ????
    ?????? ???? ?? ??????? ?????????? ?? ?????

4
????????
???? ???? ????????? ????? ?????
?? ???

?? ?? ???????? ???? ???? ???????? ?? ?? 1- ???
??????? ???? ????? ????? ?? ?? ???? ????? ???.
5
?????? INA ? DNA
INA
DNA
?RDD ???? ??????
CDD ???? ??????
????? ??? ????? ?? ?????? ???????????
????? ?????? ????? ????? ????????? ?? ???????
????? ???? ???
6
??????? ?? ??? ???? ????
??????? ????? ?? ??????? ????? ?????????
???? ???? ???? ????????? ????? ??????? ?? ???
???? ???? ???? ????
??? ??? ??????? ?? ??? ???? ???? 1- ??? ?
???(? ??????) 2- ???? ???????? 3- ???
?????????
7
??????? ?? ??? ???? ????
??? ? ???? ?????????
  • ??????? ???????? ?? ?????????? ?????
  • ??????? ?? ?????????? ????? ???????
  • ?????? ???? ?? ?? ?????? ???

????
  • ??????? DD ???? ?? ?????? ? ????? ??
  • ???? ??? ??????? ???????? CDD ????? ?? ?? ????
    ??????
  • ???? ??? ????? ???????? RDD? ????? ?? ?? ????
    ??????

8
??????? ?? ??? ???? ???? ??? ? ???? ?????????
????
9
??????? ?? ??? ???? ????
?? ? ????- ????????
?????????? ????? ? ?????
?????????? ????? ????? ???? ???? ????
10
??????? ?? ??? ???? ???? ??? ????- ????????
Seneta(1973)
????? ????? ?? ?????
x ????? ???? ???? ????- ???????? ?????? M
?????? ?? ?????? ???????????? ???? ???? RDD????
11
??????? ?? ??? ???? ???? ??? ????- ????????
????? ???? ????????
??????? ????????
Mees(1981)
1- ??????? ?? ?????? ???? T ?? ??? M
Munro(1985,1987)
12
??????? ?? ??? ???? ???? ??? ????- ????????
????
????? ??????
ifg finv(w,fg)
??? ????? ????????
13
??????? ?? ??? ???? ???? ??? ????- ????????
?????? ????????? ? ????? ???????? ???? ????? ????
14
??????? ?? ??? ???? ???? ??? ????- ????????
????????? ??? ??? ?? ????? ???????
15
??????? ?? ??? ???? ???? ??? ????- ????????
?????? ?????? M
?????? ????? ? ????? ???? ????- ????????
v,l,r fperron(w,nc)
??? ????? ???? ? ????? ????? ?????? ???
????? ???? ?????? ????? ???? ???? ?? ????? ???
??? ????????? ????? ???? ??????????
????? ????????? ???????? ?? ???? ???????
16
??????? ?? ??? ???? ???? ??? ????- ????????
????? ???? ????- ????????
17
??????? ?? ??? ???? ???? ??? ????- ????????
????? ??? ????? ???? ????- ???????? ?????????
18
??????? ?? ??? ???? ???? ??? ????- ????????
????? ???????? ?? ??? ?? ????? phlead ?? phlag
kn,kd phlag(-20,8,-7)
????? ????? ????????
????? ????? ????? ?? ??? db
?????? ???? ???
??? ??????? ?????? ??????? ? ????? ????? ?????? ?
????? ?????
??? ????? ?????? ??? ? ????? ????? ?????? ????????
19
??????? ?? ??? ???? ???? ??? ????- ????????
????? ??? ????? ???? ????- ???????? ????????? ??
????? ???????? ????? ???
20
??????? ?? ??? ???? ???? ??? ????- ????????
?????? ????????? ? ????? ???????? ???? ?????
?????????
21
??????? ?? ??? ???? ???? ??? ????- ????????
????????? ??? ??? ?? ????? ???????
22
??????? ?? ??? ???? ???? ??? ????- ????????
?? ??? ???
?? ???? INA? CDD ??????
?? ???? DNA? RDD ??????
???? ??? ???????? ????? ????? ?? ?? ???? DD? ????
???
23
??????? ?? ??? ???? ????
?? ? Pseudo-diagonalization
?????? ?? ???????? ??????
???? ?????? ?????? ?? ???? ????? ?????? ??
?????? ???? ????????? ?????????? ??? ????? ???
??? ??????
Hawkins???
?? ?? ??????? ???????????
???? ????? ?? ???????????? ???????
24
????? ??????????? ???? ????? ???????? ?????????
??? INA
????? ??? ?? ??? ????- ????????
????? ??? ????? ?? ???????? ???? ???? ?????
?????????????
???? ??????? ?? ????? ??? ????- ???????? ?? ???
?????
????? ??? ???? ???????? ????? ????? ????? ????
???????? ????? ???
?? ????? ??????? ????? ????? ?? ???? ???? ???
??????
25
????? ??????????? ????
?????? ????????? ? ???????? ???????? ????? ????
????
26
????? ??????????? ????
???????? ????????? ????? ?? ???????? ????? ?????
27
????? ??????????? ????
?????? ???? ?????
40???? ?? ?? ????
?????? ??????????? ?????
???? ??????????? ?????
28
????? ????? ??????????? ?????
???? ??? ????? ???? ???? ?? ??????????? ?????
29
????? ????? ??????????? ?????
(-12,12)
30
????? ????? ??????????? ?????
???????????? ????? ??? ????? ??????
31
????? ????? ??????????? ?????
???? ??? ????? ?????? ?? ?????? ????? ????? ???
32
????? ????? ??????????? ?????
???? ??? ????? ?????? ?? ?????? ????? ????? ???
??????????? C.L.
33
????? ??????????? ???? ????? ???????? ?????????
??? DNA
????? ???? ???????? ??????????? ??????
????? ???
?? ???????? ????
???? ???? ???? ???
?? ??? ????- ????????
34
????? ??????????? ???? ????? ???????? ?????????
????? ????????? ?????? ? ??????? ???????? ????
????? ????????? ?? ???????????? ????
35
????? ??????????? ???? ????? ???????? ?????????
????? ??? ????? ?? ???????? ???? ???? ?????
?????????????
  • ?? ??????????? PI ???? ???? ???? ?? ?????????
    ?????

???? ???????? ?????
36
????? ??????????? ???? ????? ???????? ?????????
???? ??? ????? ??????????? ?? ??????????? ?????
37
?????
38
(No Transcript)
39
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?? ???? ???? ?????????
???????? ????????
?????? ?????? ?? 1
40
(No Transcript)
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