A methodology for designing controllers for industrial systems based on nonlinear separation model and control

A feasible method of controller design for industrial nonlinear dynamic systems is proposed, by separating the nonlinear dynamic system into nonlinear static parts and a linear dynamic part. The proposed method of industrial controller design reduces the existing gaps between the control theory and the actual field. In the controller construction procedure of a system, the nonlinearities are eliminated by using the inversion functions of the nonlinear static parts. Any conventional control theory is ideally applicable to a linear dynamic part of the system. Based on the proposed method of nonlinear separation, controllers were constructed for three different systems: a chemical reactor, a temperature level-controlled tanked water system, and the contour-following control of an articulated robot arm. Some encouraging control performances, superior to those of other existing controllers, showed its significant potential for application to industrial systems with nonlinearities.