Gain-Scheduled Smith Predictor PID-Based LPV Controller for Open-Flow Canal Control

• Published in: IEEE transactions on control systems technology Vol. 22; no. 2; pp. 468 - 477
• Main Authors: Bolea, Yolanda, Puig, Vicenc, Blesa, Joaquim
• Format: Journal Article Publication
• Language: English
• Published: New York IEEE 01-03-2014; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Automatic control; Automàtica i control; Canals; Control automàtic; control nonlinearities; Control systems; Dealing; Delay; Galleries; Informàtica; LMIs; LPV control; Mathematical models; open-flow canal systems; PID; Proportional integral derivative; Smith predictor scheme; Smith predictors; Àrees temàtiques de la UPC
• ISSN: 1063-6536; 1558-0865
• DOI: 10.1109/TCST.2013.2257776

In this paper, a gain-scheduled Smith Predictor PID controller is proposed for the control of an open-flow canal system that allows for dealing with large variation in operating conditions. A linear parameter varying (LPV) control-oriented model for open-flow canal systems based on a second-order delay Hayami model is proposed. Exploiting the second-order structure of this model, an LPV PID controller is designed using H∞ and linear matrix inequalities pole placement. The controller structure includes a Smith Predictor, real time estimated parameters from measurements (including the known part of the delay) that schedule the controller and predictor and unstructured dynamic uncertainty, which covers the unknown portion of the delay. Finally, the proposed controller is validated in a case study based on a single real reach canal: the Lunax Gallery at Gascogne (France).