Abstract
A PID-based scheme and an adaptive-predictive controller are compared on the same industrial bleach plant. The PID scheme is auto-tuned and uses a linearizing block and gain scheduling to compensate for sensor nonlinearities and production rate changes, while APCS treats those as unknown perturbations. Both schemes behave well. It shows that, when nonlinearities are known and changes in process dynamics are predictable, gain scheduling combined with a well-tuned PID regulator behave remarkably well. At the same time, it shows that adaptive control can handle the same situation with less tailoring.
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