Linearizing controller for higher-degree nonlinear processes with compensation for modeling inaccuracies practical validation and future developments

This work shows the results of the practical implementation of the linearizing controller for the example laboratory pneumatic process of the third relative degree. Controller design is based on the Lie algebra framework but in contrast to the previous attempts, the on-line model update method is suggested to ensure offset-free control. The paper details the proposed concept and reports the experiences from the practical implementation of the suggested controller. The superiority of the proposed approach over the conventional PI controller is demonstrated by experimental results. Based on the experiences and the validation results, the possibilities of the potential application of the data-driven soft sensors for further improvement of the control performance are discussed.