Abstract
Conventional state regulators which are optimal with respect to a quadratic performance index are proportional controllers, and therefore do not, in general, perform satisfactorilly in the presence of constant disturbances. In this paper, a method to design an optimal regulator incorporating integral feedback control functions for a linear system with transport delay is presented.
The problem is formulated as that of minimizing a quadratic performance index containing new state variables which are integrals of the output variables. The problem is solved by the conventional regulator theory for a system with time lags.
The developed optimal regulator possesses the function of a proportional feedback control and of an integral feedback control. The proportional control can improve response and stability by using the state variables in the transport delay process as well as state variables in the lumped parameter process. The integral control can eliminate offset errors in the output variables.
Simulation results show that the proposed control system is superior to the conventional optimal regulators in the presence of steady disturbances.
