Multivariable Control of a Coupled Drives Process with Decoupling Controllers

The paper is focused on an application of self – tuning decoupling controllers for real – time control of a multivariable coupled drives apparatus. The controlled apparatus is a multivariable nonlinear system. Two control algorithms based on polynomial theory and pole – placement are proposed. Decoupling compensators are used to suppress interactions between control loops. The controllers integrate an on – line identification of an ARX model of a controlled system and a control synthesis on the basis of the identified parameters. The model parameters are recursively estimated using the recursive least squares method with the directional forgetting. Key-Words: multivariable control, control algorithms, adaptive control, polynomial methods, pole assignment, recursive identification, nonlinear systems