Abstract
A new predictive PI controller is proposed and applied to the benchmark MIMO PID 2012. Estimate of disturbance, obtained from the Disturbance Observer (DO), is introduced in the loop to obtain the offset free control. First-Order Plus Dead-time (FOPDT) model of stable, integrating and unstable plants is used to design DO, by applying inverse modeling technique. Tuning rules are proposed, and analyzed by simulation of stable, integrating and unstable processes. The high performance of the proposed predictive PI controller with additional filtering is demonstrated by simulation and on the benchmark MIMO PID 2012 plant, with the open-loop dynamics approximated by FOPDT models for the pressure and the water level.
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