Discrete-time feedforward/feedback control of multivariable nonlinear processes

Abstract

Discrete-time feedforward/feedback control laws are derived for general multivariable nonlinear processes, whose delay-free parts are minimum-phase. The derived control laws can (a) reject the effect of measurable disturbances as effectively as possible, (b) reject the effect of unmeasurable disturbances asymptotically, (c) induce desirable closed-loop dynamics, and (d) track setpoint step changes without offset. The derived control laws are interpreted from the point of view of model predictive control.