ROBUST MODEL-FOLLOWING CONTROL FOR MULTIVARIABLE PROCESSES

This paper considers a design problem of robust model following contro l for a linear multivariable process with model uncertainties. The obj ective is to design a two-degree-of-freedom controller such that for a ll allowance variation values of model uncertainty the controlled syst em is robustly stable and its output asymptotically tracks the prespec ified reference model. An explicit and simple design procedure is prop osed. Conditions are given which can be used to guarantee the controll er with the capabilities of robust stability and robust performance. T he controller design methodology is demonstrated with the control prob lem of a continuous stirred tank reactor (CSTR) serving as a case stud y.