Figure 2: Gain-scheduled lead compensator for temperature loop.
Tuning this gain-scheduled controller amounts to tuning the look-up table data over a
range of concentration values. Rather than tuning individual look-up table entries,
parameterize the controller gains Kp,Ki,Kt,a,b as quadratic polynomials in Cr, for
example,
Besides reducing the number of variables to tune, this approach ensures smooth gain
transitions as Cr varies. Using systune, you can automatically tune the coefficients
to meet the requirements R1-R4 at the five equilibrium points
computed above. This amounts to tuning the gain-scheduled controller at five design
Gain-Scheduled Control of a Chemical Reactor