An extended horizon feedback/feedforward self‐tuning controller

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Abstract
A feedforward/feedback version of a single input/single output self‐tuning controller has been developed and tested both via simulation studies and experiments on a section of an absorption/desorption pilot plant. The algorithm is based on the recursive least squares estimation of parameters for the linear models relating the output to the controlled input and to the disturbances; adaptation is achieved using a variable forgetting factor. The control input at each time interval is calculated using one of several single‐step extended‐horizon control strategies.The results show that the performance of the algorithm is insensitive to the choice of initial parameters, all of which have a readily identifiable intuitive basis. The algorithm is especially robust against deterministic disturbances (measurable and unmeasurable) and unknown and varying time delays. Computational load beyond that of a feedback‐only version is minimal.