Embedded model control, performance limits: A case study

This paper presents the analysis and implementation of two control laws applied on a case study. The first one and main focus of this work is the Embedded Model Control whose main characteristics are the active disturbance rejection and uncertainties handling. Here diverse control parameters are tested such that performance limits are exposed due to model limitations. On the other hand there is a classic PID control law, based on operations on the trajectory error as a control paradigm that not requires an explicit model for its physical implementation. The implementation and tests are made on a commercial didactic process, where performance and disturbance rejection properties are verified, showing that even with this simple process the performance may be gracefully degraded as a consequence of the absence of the system model embedded in the control law.