CoatrolEng. Pray:lice, Vol. 1, No. 6, pp. 917-925. 1993 0967-0661/93 $6.00 + 0.

00
Printed m Gre~t Britain. All rights ~ ' v e d . © 1993 Pergamon Prms Led

OBSERVER-BASED MULTIVARIABLE FLATNESS

CONTROL OF A COLD ROLLING MILL
I. Hoshino*, M. Kawai*, M. Kokubo*, T. Matsuura*, Hiroshi Kimura* and Hidenori Kimura**
*Sumilomo Light Metal, Chitose Nagoya, Japan
**Department of Mechanical Engineeringfor Computer Controlled Machinery, Osaka University,
Yamadaoka Suita, Japan

Abstract . The synthesis m e t h o d o l o g y developed by Kimura(1985) based on the design theory of o u t p u t regula-
t o r s essentially due to W o n h a m ( 1 9 7 4 ) has been applied successfully to the flatness control system for a 6-high
cold rolling mill. The system has the following r e m a r k a b l e features.
ill The s t r u c t u r e of the controller is simple. This makes it easy to tune the control system.
{2) The controller copes well with the detection time delay, a n d thus high p e r f o r m a n c e is obtained even at a low
rolling speed.
{3! The flatness e r r o r caused by the rolling force v a r i a t i o n in mill acceleration a n d deceleration time would be
kept to a minimum by the function to adjust roll bending force using the signal of rolling force.

Key W o r d s : Multivariable systems. Flatness control, Rolling mills, Observers

The a p p r o a c h via optimal regulator theory

1. INTRODUCTION
Flatness control is an i m p o r t a n t part of
rolling technology. Poor flatness is undesir-
able not only for product quality but also
for productivity, because it leads to strip
tearing in the extreme case. Various actu-
ators have been developed for the flatness
control of rolling mills and many control
algorithms using these a c t u a t o r s have been
proposed.
For example, approaches via a search meth-
od for the 6-high rolling mills (Imai, et al.,
1980) and L a g r a n g e multiplier method for
the 4-high rolling mills (McDonald, et al.,
1990) gave statically optimal results. But
these approaches could not effectively deal
with the a c t u a t o r dynamics and the detec-
tion time delay: therefore, high response
characteristics could not be expected. The
rolling speed of the single stand, non-contin-
uous rolling mill is frequently changed over
a wide range compared to the continuous
mill, and the rolling force variation caused
by the rolling speed change leads to flat-
ness error. It is, therefore, i m p o r t a n t to
have high response characteristics to com-
pensate these disturbances and also to have
high control performance at low rolling
speed in which the detection time delay is
significant, especially for the single stand,
non-continuous rolling mill.
(Yamamoto, et al., 1990) deals appropriate-
ly with the a c t u a t o r dynamics, but it re-
quires the solution of Riccati equations in
the process of the controller synthesis and
results in a complex feedback structure
which leads to serious difficulty in actual
implementation. Also, there is no systemat-
ic method to deal with the detection time
delay.
In this paper, an application of the synthe-
sis methodology developed by Kimura(1985)
based on the design theory of output regu-
lations essentially due to Wonham(1974) to
the flatness control system for a 6-high roll-
ing mill, is presented. The remarkable ef-
fect of this synthesis methodology has al-
ready been substantiated by its application
to the thickness control of an aluminum
cold rolling mill (Hoshino, et al., 1988), but
a new method to cope with the detection
time delay is also provided in this paper.
The salient features of the design method
are as follows.
(1) The obtained controller has a physical-
ly reasonable structure.
(2) The disturbances are properly esti-
mated and dealt with.
(3) The synthesis can be calculated by
hand, keeping the design procedure
tractable.

917
918 I. Hoshino et al.

P,(x)" Lagendre orthogonal function series,

2. MATHEMATICAL MODELS
P,(x) - 1 d' (x ~_ 1)'
The object plant is a 6-high rolling mill with 2'i! dx'
an intermediate roll (IMR) which has an ex-
cellent ability to control the complicated The method using orthogonal functions was
flatness e r r o r (Nishi, et al., 1983). The flat- presented by Fukuhara and his co-workers
ness sensor is in the exit side of the mill (1991).
and the distance between the mill stand and
the sensor produces a detection time delay. When considering only two actuators, the
Figure 1 shows an example of the flatness WR-bender and IMR-bender, the mathe-
sensor output, that is, the strip elongation matical models of the plant are given as
strain distribution calculated from the follows.
measured strip tension distribution. The
aim of flatness control systems is to get a A~ =K,,(AF~., +dwR) +K,,(AF,MR +d,~R)
uniform distribution of the strip elongation + K,, A P (2)
strain. Flatness e r r o r means nonuniformity A, = K.( A FwR+ dwR)-r K,,( A F,MR + d,MR)
of this distribution. Here, I-unit means a +K~,AP (3)
unit of strain and 1 I-unit is equal to 10-t
where,
Figure 2 shows the main flatness control A2 :the 2nd-order strain component
actuators of the mill. The IMR-shift is not variation,
manipulated during rolling, so it is not re- A, :the 4th-order strain component
garded as an actuator in this paper. Ac- variation,
cording to Yasuda and his-coworkers(1986) A FwR:the WR-bending force variation,
the work roll ( W R ) - b e n d e r has an effect A F~MR:the IMR-bending force variation,
mainly on the strip elongation strain at the dwR, dlMR:disturbances,
edge part of the width and the IMR-bender A P:the rolling load variation,
mainly on the strip elongation strain at the K,, :the p a r a m e t e r s which depend on
center part. Therefore, the combined usage rolling conditions.
of the WR-bender and IMR-bender makes
it possible to control the complicated flat- The models of actuators are given as fol-
ness error. lows:

To express flatness numerically, strain com- d

ponents (A,) are defined as T~,R - d7
- A F,,'~ = - A F~'R - A FwR " (4)

d
- - A F i u . = - A Fi~.~ ~- AFI~,. "' (5)
f(x) = A:P,(x) + A~P:(x).o + A , P . ( x ) + " (1)

f(x) : the strip elongation strain distribu- where,

tion in the width direction, A FwR~qthe WR-bending force reference,
x : the normalized position in the width A F~.~,R~:the IMR-bending force reference,
direction, TwR:the time constant of the WR-bender,
T,~,R:the time constant of the IMR-bender,
lO[I, t : time.
80.
60.
= 4(I, /---'---Back-up roll
21)' Maximum '
[ntermedmte BL'R /
_Strap stra, r(,ll ~
•z u-.flatness error. -distributio
I

"z 20
_= 40. < = < INI'RBuRWWR[;M~RR
~W°rk roll
:z Strip width
• 60.
.Ulli
• lll(i
I)rivc.s~de
t
Center Operator-side IMR-shlft "Rbendcr I
IMR b~.ndt.r
Strip width direction
Fig. i Flatness control a c t u a t o r s
Fig. 1 Flatness sensor output of a 6-high mill
 Multivatiable Flamess Control 919

A,2
T~Rs-1

A:~4
AFl~xr,f 1
TIwR$+ l i AFI.~IR. _ Q

Ap

Fig. 3 Block diagram of the plant

Table 1 Strip strain distributions

of A2 and A, 6,2 * i ,
(I-unit) I

Strip strain distribution I

Strip Strain 20]
A,4
62 <oo'1 o,/ (l-unit) 01-i__----__
= ll-unit StripWidth -2o~ ',
i
Strip Strain (×9.8kN)

A~ 50-
= lI-unit Width
O.S
_ II° ''J1 Strip
(x9.SkN)
10 Is)
50-

The models of s e n s o r d y n a m i c s a r e given
as follows..
A,2(t) = A , ( t - z ) (6)
A,,(t) = A , ( t - v ) (7)
where,
A>5 : the detected value of As,
A y( : the detected value of A,,
v : the detection time delay.
Figure 3 s h o w s the block d i a g r a m of the
plant. Only the second- and f o u r t h - o r d e r
strain c o m p o n e n t s a r e considered b e c a u s e
WR-bending and I M R - b e n d i n g force varia-
tions mainly influence these components.
The strip strain distributions of As and A(
a r e shown in Table 1. The o t h e r o r d e r strain
c o m p o n e n t s can be controlled by using o t h e r
a c t u a t o r s such as the roll gap skewing bet-
ween the o p e r a t o r side and drive side, the
~F l~ 5()-
(x9.8kN)
O"
L~FI',IH
50-
(X 9.SkN)
O"
. S)
Fig. 4 Flatness variations by the bending
force changes
(rolling speed : 150m/rain)
roll bending force skewing between the op-
e r a t o r side and drive side and the roll cool-
ant. However, the explanation of how to use
these a c t u a t o r s is omitted in this paper.
F i g u r e 4 s h o w s the experimental results of
the flatness c o m p o n e n t variations due to
changes in the bending force. While the ac-
tual bending force r e s p o n s e s can be repre-
sented as a f i r s t - o r d e r s y s t e m with time
c o n s t a n t of a b o u t 0.1 second, A2 and A ,
variations have the pure time delay of a b o u t
920 I. Hoshinoa al.

1 second to the bending force changes. This also it is important to design a robust con-
time delay is caused mainly by the distance troller which can admit this model error.
between the mill stand and the sensor, as
previously mentioned. The experimental
value of the time delay corresponds very 3. S Y N T H E S I S OF THE C O N T R O L
well with the calculated value (Fig. 5) at a SYSTEM
speed of 150m/rain. 3.1 Control Objectives
The control objectives are given as
The parameters, K,,, can be calculated using
a physical model, but this model is too com- A.~=0, A,=0 (8)
plicated to use in actual implementation of
the flatness controller. Then, an experimen- 3.2 Synthesis Procedure
tal model has been made. This model con- The synthesis procedure is composed of the
sists of simple polynomial functions of which following three major steps.
the variations are the strip thickness, width (~) Improve the response characteristics
and position of the IMR-shift. Figure6 by state feedback.
shows the accuracy of this model. If this (Internal Compensation)
model is perfectly correct, the plotted points @ Compute the feedforward control input
are on a diagonal line. But the accuracy of to counterbalance the disturbance.
this model is not good enough, so this (Feedforward Control)
model should be improved in future, and @ Implement the feedforward control by
feedback control based on the estima-
tion of the disturbance by an observer.
(Feedback Realization)

3.3 Internal Compensation and Feedforward

Control
k 4 The references for the actuators which ad-
just the response characteristics of the plant
I
are given as
~ll(I .~llll tqflll

t,G,lllrl~ b,lJVt,(t inl/'nllni

aF,,.':=(1- T~,?/ ~- T,,--W (9)
Fig. 5 Detection time delay ~F,.,,~:_(1 - T,~,~)~F,~:~ Tt,,,~ A ~ - . . .
(calculated value) r,,,,-~' -" r,~;; =- " I~'"" ilO)

Actual I.m t/98kNJ Actual ( I . t : n U / ! ~ NK N ,

1 3 "d l ~1 2o 15 In ~} 5 (~
illl
/
p •
(i.,7_ ~
I • /,s -~_: e//
:Q .,
i "" iu-
• .,~J
/
• I// i
J // i --2
I . , "~

,'f" , • ~" ,1 /./.;. . . :" . . . . . . .t . .

la) K:: V'., If :

Actual il.unit/9 ~kNI m('lll;l] (I.ilnlI ./tl ,~,k N i

2 J 1,5 l.u I) 5 [I.ql i1.5 !1.1 11,21 AI2 I}.l (Jli
II II
"11 '~'
-- , ~,."
,4
-,t
/
~.~
•
/
//
/
"r l
=
s, " Io
/ . %
/
/ • , i ni g
p
/

1¢} K~: I<tl /k)l~

Fig. 6 Accuracy of K. model

 Multivariable Flatness Control 921

where, TwR' and T, MR' are the adjusted time where,

constants, AF',-~ ~' and A F,~,~ ~'~ are additio- e '~ : time( r ) delay operator.
nal inputs. It can be shown that if the e s t i m a t e s are ac-
curate, e wR is equal to 0 as follows.
Substituting (8) in ( 2 ) - ( 7 ) and considering
the s t e a d y state, the additional inputs to F r o m equations (2), (3), (6) and (7),
c o u n t e r b a l a n c e the d i s t u r b a n c e s and accom-
plish the design objectives are given by
A,,J e [[K,~ K, A FIMR4-d,MR ]
AFw. "'= - d ~ ' ~ - Kp,'AP (11)
b p t.~': = - d,~,R - Kr:' A P (12) (20)

where, then

K,,; [K,:' K.' LKP~J

K,:' K.' IA,.,J- e
:s[K,l')
K~:' A P
K,:' K,,' K,~ K,, J (13)

F r o m (9)-(12)
-e-: 1
AF~.~R-d~MR = 0 (21)

Here, the m o s t r e m a r k a b l e point in the de-

A F,,.."' = (1 - TwR '~A F~.R sign process is t h a t the time delay given in
T,,.~' / equations (6) and (7) is dealt with in the
T,,'R, (d,,-~+K~,'AP) observer as it is shown in equation (19).
Twn (14) The replacement of A FwR and dwR by their
estimates in equation (14) results in

TIMR
T,.-~,~' (d,~,~ +K,:' AP) AF,,." = (1 - T,,.~ ~ ^ w
(15)
T,,.~ (d,,-,,+ Kp~'AP)
3.4 F e e d b a c k Realization by Observer T~H ' (22)
To estimate the u n m e a s u r a b l e disturbances,
m a t h e m a t i c a l models of the d i s t u r b a n c e s K,,-,~ denotes the so-called observer gain and
are needed. In this paper, it is a s s u m e d it adjusts the estimation speed of d,,.~. Since
t h a t the d i s t u r b a n c e s are of the step type the initial value is k n o w n for Al~wR, the cor-
satisfying r e s p o n d i n g observer gain can be set to 0.
F r o m equations (18), (19) and (22),
d
- - d ~ . R =0
dt (16) : [ - 1 / T . ~ ' - 1/Two' ][AI~,,.~]
d
- - d , ~ , ~ =0 dt Lit~,~ J {--K,,,e ' - K w . e " J { c'l,,-. J
& (17)
[ 0 ](K::' A,:+K:,' h,.J
-~ K,,,~
The model of A P is not required because it
is a m e a s u r a b l e disturbance. K,,,' K,,. e ~ (23)

At first, f r o m equations (4) and (16), the F r o m the a s s u m p t i o n dd , , , / dt =O, cl ,~.R=

observer e s t i m a t i n g d,,R and A F,,R are ob- e ,s it:,~.,. Then
tained as follows:

d [ar,,q
dt[d,.,.R ] : [ - I / T , , - ~ 0 ]
ar,, dt [d,,.. ] -K,,~c ~ -Kw~
0 0
'~-/ 0 ] (K:''' A'~-+K2'' A'')
+ 1/ w~ AF,,~"- K,,. e,,~
(18)
K..~' K,,. e ~ (24)
Al~w. and d,,, are the estimates of AF,,..
and d,,.R respectively, e ,,-~ is the estimation Here, note that this a s s u m p t i o n leads to the
e r r o r given as feature that the time delay is removed f r o m
the characteristic equation of the feedback
e ,,-R = (K::' A,.: + K~,' A , ) system, as will be described later.
-e : s (Kp,' AP+AFwR+ctw~) (19)
Secondly, from e q u a t i o n s (5) and ( 1 7 ) , t h e
922 I. Hoshinoet al.

observer estimating d ~ . and A F ~ . is given

as 4. DISTURBANCE TRANSFER
CHARACTERISTIC AND STABILITY
In o r d e r to get the balance between the ac-
dt
+
[~L~,]=[
[o]
%][a,M, J
A FIM"~'~-rK , ~ ~ ~" (25)
t u a t o r responces and the disturbance esti-
m a t i o n speeds respectively, the following
conditions a r e set :

where Kw.=K,M.=K T~.'=T,M.'=T ' (29)

e IM. (KZ A,, + K,,' A,,)
=
- e - " (KP,' Ap-a A~',.. + a , ~ . ) (26) Then the t r a n s f e r function f r o m the disturb-
ances (d,.., d,MR, A P) to the outputs (A.~,
A F,M.~ = (1 - T':'~",.] A ~,~.
TIMR / A.,) is given as
T,M. (a,..,. a_K.., A e )
T~M.' (27) [Av2
A;, ] =e-:'
K e -~'
1-(T' s+l)(s+K)
}

AI>~M. and c],.~, are the estimates of Al~,.~,.

and axM.. e ~Mu is the estimation e r r o r and [ 1
× [K,2 K . ] Ld,M.J
if the estimation is correct, e ,~. is equal to
0 as shown in equation (21). K~., denotes - e " 1 T' s+l Kp~ (30)
the observer gain and it adjusts the estima-
tion speed of cl,..,R. Since the initial value is Equation (30) shows that the t r a n s f e r char-
known for A F,.,,.. the c o r r e s p o n d i n g observ- acteristic of the ( o u t p u t ) / ( d i s t u r b a n c e ) can
er gain can be set to 0. Due to the assump- be controlled by T' and K. The output varia-
tion ag~M./dt = 0 which m e a n s a,MR = e - : ' tions caused by the d i s t u r b a n c e changes
cl,.,,~. (25)-(27) can be written as ( A P ) a r e regulated m o r e quickly as T' be-
comes smaller, and the output variations
=
caused by the disturbance changes (dwR.
dt t d1,~R j t -K,M. e .... K,.,,. ]t ] d,~R) are also regulated m o r e quickly as K
[ 0 ](K,:' A,~.-K.' A.,) becomes larger.

The c h a r a c t e r i s t i c equation (C.E.) of the

-K/ KIX,Re "' (28) feedback s y s t e m is given by"

3.5 Synthesis Result C.E. = (s - 1...'T,,,) ( s - 1./T..,') (s-+-Kw.)

Equations (22), (24), (27) and (28) give the
final form of the controller. Figure 7 shows
the block d i a g r a m of the controller.
... ( s - 1 "T,~,,,)(s--1/T,~,u')(s-K,~,R) (31)
For their" derivation, see the Appendix. The
C.E. does not involve the time delay, so the
tuning p a r a m e t e r s (T,,,', K~u, T~,,,,', Kt.~,~)

AI'

A'," 1

J',F;;;.

" inteRratlJr

Fig'.7 Block diagram vf the obtained controller

 MultivariableFlatnessControl
can be set independently of the time delay.
Consequently, high response characteristics
and sufficient stability of the control sys-
tem can be expected even at a low rolling
speed.
5. COMPARISON WITH SMITH'S
METHOD
Smith's method (1959) is the well-known
synthesis strategy for the system which
has a time delay in the input or output sig-
nals. The synthesis procedure of this meth-
od is as follows. At first, the controller is
designed for the provisional plant model
without a time delay. Subsequently, dealing
with the time delay is executed using the
plant model with a time delay. A feature of
this method is that the time delay is not in
the characteristic equation of the feedback
system and as a result, a high-speed re-
sponse and stability can be obtained. But,
for the plant which has both outputs with
and without a time delay, such as the plant
described in this paper, Smith's method can-
not be generally applied.
Figure 8 shows the applied result of Smith's
method for the plant model which has o-
mitted AP, the output without time delay,
from the original plant model given in equa-
tions (2)-(7). The controller for the provi-
sional plant model without time delay, which
has no need to deal with a time delay, is de-
signed using the observer-based method
mentioned in the previous sections. A com-
parison of Fig. 7 and Fig. 8 shows that the
controller shown in Fig. 7 has a smaller
number of integrators and simpler structure
than the controller shown in Fig. 8 which is
designed using Smith's method.
By the controller shown in Fig. 8, the trans-
A.v:
1
Ay.~
Fig. 8 The controller derived using Smith's method
923
fer function from the disturbances to the
outputs is given as
A,, { Ko . }
A,, =e-" 1 (T' s - 1 ) ( s ~ K )
[K,, K,, 1 fd~ ]
x [K,, K,,J td,.~J
{ lfK,,]
"- e - " 1 - ( T , s t l ) ( s t K ) J [ K P 2 J Ap, (32)
A comparison of equation (30) and (32)
shows that the transfer characteristic from
the disturbance ( A p ) to the outputs given
by the controller shown in Fig. 7 is differ-
ent from that given by the controller shown
in Fig. 8 and the output variations caused
by the disturbance changes ( A p ) are regu-
lated more quickly by the controller shown
in Fig. 7 than by the controller shown in
Fig. 8.
The qualitative explanation for the result,
"the time delay is removed from the charac-
teristic equation of the feedback system by
the controller shown in Fig. 7 in spite of the
smaller number of integrators as compared
to the controller shown in Fig. 8", is as fol-
lows. The idea of Smith's method uses a
plant model to deal with the time delay, but
the controller which is designed for the pro-
visional plant model without the time delay
also has the plant model internally. So, the
controller shown in Fig. 8 contains doubled
plant models which are obviously redun-
dant. It is better to use the internal model
generated by the observer to deal with time
delay as well as was done in this paper.
6. RESULT
6.1 Simulation Resuhs
Figure9 shows the simulation results. The
simulations are carried out on the initial
924 I. Hoshinoet al.
1500 Rolling speed

i I, :, • • • ,
1000.
500.
0
20L Is) 20 is)
30. Maxmmm flatness error
r 2O.
I0.
o
= [ 2 4 6 8 lO kL] "-- 6 8 1o
(s) Flatness component A:
• 1o.
0
z-~ [ [ [ '" ' . ' , L~ 10,
> 4 6 8 1 ) '2 4 6 8 1(I
E F'latness component A.~

ii,7! ,oo,: (sl

• 10.
0
I0.
f: ..... ; ,,/l IOO. WR-bendt.r

10,)[~[ .; ~ ,~
(s)
ai) L-~ looL
'[ Is)
.2g
9¢
50.
0
w

(s) 150" 1M R-bender

100.
~ 4 6 8 10 2 4 6 8 10 ,e
50" = - - ' ~ - ~ - - = ~ - ~ - ~ "--"-'~'~"
v 0 • , , u 1 • i i v l ' i | r I '
0 5oo 1o o o 1500

(s) R(dlcd strip length (ml

'2 4 6 8 10

"it
1o(I
' ' ' '.s,,,',l
la) No KU rrlodel
Fig. 9 Simulation results
output error, A.~ = 15 I-unit, A, = 5 I-unit.
The time delay ( r ) is nearly equal to 1
second at a 150m,'m in rolling speed.
In the case when the model p a r a m e t e r s , K,,
have no error, the flatness c o m p o n e n t s (;%,
A4) a r e regulated quickly a f t e r a time delay
of 1 second without vibration (Fig. 9 ( a ) ) .
In the case when the model p a r a m e t e r s , K,,,
have an error, a 50% mismatch between the
model p a r a m e t e r s and the actual p a r a m e -
ters, the response of the flatness compo-
nents (,'\:. 5,4) is fluctuating but the s y s t e m
is stable enough (Fig. 9(b)).
6.2 Practical Results
F i g u r e l 0 shows an example of the practi-
cal test results. F r o m these results, it can
be concluded that the flatness c o m p o n e n t s
(A:,, A,) a r e regulated quickly by the simul-
t a n e o u s manipulation of the W R - b e n d e r
and IMR-bender. The m a x i m u m flatness
e r r o r defined in Fig. 1 is restrained within
a b o u t 10 I-units.
The conventional flatness control s y s t e m
for a 4-high mill consists of the traditional
PI control of the p a r a b o l i c flatness e r r o r
through the WR-bending manipulation and
the control of the local flatness e r r o r
through the roll coolant manipulation. The
algorithm of the roll coolant control of the
Fig. 10 Practical results
lb) Kij m o d e l e r r o r
: r e a l / m o d e l = 15
new s y s t e m is s a m e as that of the conven-
tional one. The m a x i m u m flatness e r r o r is
beyond 15 I-units by the conventional sys-
tem. So, it can be said that m o r e than 30°/6
improvement in flatness has been achieved
by the new system. The r e m a i n d e r of the
m a x i m u m flatness e r r o r results from the
local strip elongation strains which cannot
be represented by A: and A4, and to im-
prove this e r r o r the roll coolant control
must be examined in more detail.
7. CONCLUSIONS
This p a p e r discribes a new flatness control
svstem based on the d i s t u r b a n c e estimation
observer. Its effectiveness has been demon-
s t r a t e d by the results obtained in numerical
simulation and application to a real plant.
The features of the obtained s y s t e m are as
follows:
(1! The s t r u c t u r e of the controller is simple•
This makes it e a s y to tune the control
svstem.
(2J The controller copes well with the detec-
tion time delay, and thus a high perform-
ance is obtained even at a low rolling
speed.
(3) The flatness e r r o r caused by the rolling
force variation in mill acceleration and
deceleration time would be kept to a
minimum by the function to adjust roll
bending force using the signal of rolling
force
 Mulfivariable Flatness Control 925

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Fukuhara, A., T.Kaji, G. Fukuyama and S.Terado 226.
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Engineer. 10, 34-40 Journal of the JSTP, 24-268,449-455.
Hoshmo. H.. Y. Maekawa. "I'.Fujimoto. tl.Kimura Smith.O.J.M.(1959). A controller to overcome dead ti
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APPENDIX "DERIVATION OF THE CHARACTERISTIC EQUATION

From equations (.1) a n d (14).

dt %. T,,-R 1 ~ ] T,,R' ( d w . + K ~ , ' A P ) (A1)

From equations (21) a n d (24),

d
dt td,,), j [-t';,,~e " K,,~ 1[ d,,-R ]
0 [ - K),, / %,
"
[1
t':,,, e =s(K),,' A P + AF,,~ "- d w ~ ) * [ _ K p , b i , , ~ e
" l
,, A P
(A2)

From equations (5) a n d (15),

_ d _ AE~,, _ 1 ..XE~,~ 1 {(1 T'"~ ) AF,,,~ T,~,~ ( d , , , ~ - K:..:'AP)}

dt T,:.., Tt~,)~ T,~,~' T~,,.,' (A3)

From equations (21) a n d (24),

dt td:,,:, j '-[ -Kt,.,. e ' --K,.., It d~x,R j

" K,.,. e ' (t'i.:' AP -~ AF~.,~ + d~.,~) - -K,.:)t.:,.,. e ~1 A P (A4)

Combining equations (A1) - ( A 4 ) yields the state space equations of t h e t o t a l s y s t e m a s

follows .

f. f,: f,,, 0 0 0
0 f::, f:,:, 0 0 0 A F ,, ~,
d d ,, ), f. L: L., 0 0 0 d~R
dt A F,~I, 0 0 0 f. f.~ f.~ A F,~,),
0 0 0 0 f.,~ f:,,,
d l XlF, 0 0 0 f. f~., f,~, dIMR (A5)
where,
f,, . . . . 1./T..,,):, f;: -- l/T,,,- l/T,,,', i'l~ = - l / T , , , ' , f=. = f,, = - l / T , , , '
f:,, = I.:,,), e :'. f , : - -t'.:,,~ e =~, f~ = --K,,~
f . = - 1 / ' T , . , . . f, = 1/T,.,.-1/T,.,R', f.6 = - 1 / T ~ . , ~ ' , f~,, == L; = - 1 / T , . . , ~ '
f,, = K:,,, e ", f,, = - K , , , , e :s, f~, = - K , ~ , ,

From equation (A5), the characteristic equation ( C . E . ) is g i v e n a s e q u a t i o n (31).