SENSITIVITY OF MIQP-BASED MPC DESIGN IN COMPENSATING ACTUATOR BACI(LASH UNDER LOCATTON UNCERTAINTY

• Main Authors: H., Zabiri, Y., Samyudia
• Format: Conference or Workshop Item
• Published: 2004
• Subjects: TP Chemical technology
• Online Access: http://eprints.utp.edu.my/3869/1/somche2_paper2.pdf; http://eprints.utp.edu.my/3869/
• Institution: Universiti Teknologi Petronas

The novel method of Mixed-Integer Quadratic Programming (MIQP)-based design of Model Predictive Controller (MPC) that simultaneously addressesa ctuator saturation and backlash have shown considerable improvement in the closed-loop performance in compensating backlash. However, implementing the controller in a multi-variable system may introduce some problems if the acfual backlash location is unknown to the MIQPbased MPC controller. In this paper, the sensitivity of the controller is investigated for uncertainty in the backlash location. Simulation study using MATLAB/SIMULINK interfacing with GAMS solver for a model developed using an industrial FCCU case study shows that the MIQP-based MPC is unable to retain its good performance when wrong location is detected. Also, over-compensation gives sluggish perfonnance which is extremelyu ndesirable.