Adaptive predictive decoupling control of full penetration process in GTAW

The control of a nonminimum-phase plant with a large and variable order, large and variable delays, and variable model parameters is addressed. The model concern is the full penetration process. The generalized predictive algorithm presented by D.W. Clarke et al. (1987) is selected as the principal control strategy, and an adaptive generalized predictive decoupling control scheme is constructed. Simulations are performed to determine the default parameters of the algorithm. The effectiveness and the robustness to various disturbances (which result in variation in order, delays and parameters) of the designed control scheme have been confirmed by both the simulations and the experiments