Embedded model control: application to web winding.

Embedded Model Control (EMC) methodology is applied to web-winding control problems. These require time-varying Embedded Model and adaptive control law, because of a variable winder radius; disturbance estimation and rejection, because of friction and variable web speed and acceleration; sensorless reel radius estimation; and robust stability and performance in the presence of web and gear vibrations. The goal is to solve these key issues in the framework of EMC, which amounts to (i) designing a time-varying Control Law capable of disturbance rejection, (ii) designing Noise Estimators capable of keeping live and accurate disturbance and radius estimates, and (iii) tuning their eigenvalues to guarantee stability and performance. Tuning takes advantage of an 'error loop' formulation, which explicitly relates neglected dynamics to eigenvalues, stability and performance. Simulated runs from a fine winder model are compared to published results.