SigurdSkogestad.pptVIP

* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * Candidate controlled variables c for self-optimizing control Intuitive The optimal value of c should be insensitive to disturbances (avoid problem 1) 2. Optimum should be flat (avoid problem 2 – implementation error). Equivalently: Value of c should be sensitive to degrees of freedom u. “Want large gain”, |G| Or more generally: Maximize minimum singular value, Unconstrained optimum BAD Good Good Quantitative steady-state: Maximum gain rule Maximum gain rule (Skogestad and Postlethwaite, 199