On nonlinear modelling using velocity-based multiple model networks

A recently proposed blended multiple model system which employs velocity-based local linear models is applied to a Continuous Stirred Tank Reactor (CSTR) plant. Three important practical issues are investigated: appropriate blending of the local models, obtaining the input derivative and suitable choice of weighting functions. Comparison is made with a conventional multiple model system of affine local models. Simulation experiments illustrate and confirm previous analytical results on the dynamical modelling superiority of the velocity-based local model network. Furthermore, since the underlying local models of the velocity-based system are continuous-time and linear, continuity is now provided with established linear theory