Design and implementation of an optimal, reliable and robust control system for an industrial plant emulator

Abstract

In this paper, we present the design of an optimal, reliable and robust control system for an industrial plant emulator that is representative of many 'real-life' electromechanical systems found in industry. The design approach is based on Quantitative Feedback Theory (QFT). The QFT controller synthesis problem is posed as an Interval Constraint Satisfaction Problem (ICSP) and the solution methodology uses interval box-consistency techniques. The control system designed is then experimentally implemented (real-time) on the industrial plant emulator system in a non-collocated configuration. Experimental tests are conducted to check the reliability and robustness of the designed control system, by subjecting it to disturbances, uncertainties, backlash and their various combinations. The experimental test results show the control system design to be reliable and robust.