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3 Designing Controllers Using the Design Tool GUI

3-14

Plant Inputs for the T Setpoint Scenario

Plant Outputs for T Setpoint Scenario with Added Data Markers shows that the

reactor temperature setpoint increases suddenly by 2 degrees at t = 5, as you specified

when defining the scenario in “Defining Simulation Conditions” on page 3-11.

Unfortunately, the temperature does not track the setpoint very well, and there is a

persistent error of about 1.6 degrees at the end of the simulation.

Also, the controller requests a sudden jump in the coolant temperature (see the upper

graph in Plant Inputs for the T Setpoint Scenario), which might be difficult to deliver

in practice. (The lower graph in Plant Inputs for the T Setpoint Scenario shows that the

feed concentration, C

, remains constant, as specified in the scenario.)

See “Change Controller Settings” on page 3-23 for ways to overcome these

deficiencies.

Note Plant Outputs for T Setpoint Scenario with Added Data Markers has data markers.

To add these, left-click the curve to create the data marker. Drag a marker to relocate

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MATLAB MODEL PREDICTIVE CONTROL TOOLBOX - S Specifiche Pagina 64