报告题目：Model-based Observer Design

报告人：Dr.Derik le Roux,Department of Electrical, Electronic and Computer Engineering,University of Pretoria

报告时间：2021年7月9日15:00-16:00

报告地点：腾讯会议685 410 544

报告摘要：

The efficiency of any control feedback loop relies on the accuracy and reliability of the measurements returned to the controller. This is especially important in the case of Model Predictive Control (MPC) to ensure integral action for tracking problems. Since there will always be a degree of mismatch between the actual plant dynamics and the model used by MPC to predict the plant dynamics, it is necessary to update the states of the model at each sampling instant to ensure the model can accurately predict the dynamics of the plant. It is possible to estimate the states of a model by means of an observer such as a Kalman Filter. The observer uses measurements of the input and output to a plant to calculate the states of the model. Unless the model fulfils the observability criteria, the observer will not be able to calculate a unique set of states to return to the controller. If a unique set of states cannot be obtained, the controller will predict the incorrect dynamics for the process and the controller will not be able to track the desired output trajectory.

This talk will discuss the theory of observability necessary to design a successful model-based observer for both linear and non-linear systems. A grinding mill from the mineral processing industry will be used as case study. The challenge for the grinding mill is to estimate the quantity of ore, water and balls inside the mill at any particular time. Industrial plants specifically want to know what the quantity of balls inside their mills are to ensure efficient grinding of ore. An observer in the form of an Extended Kalman filter is designed and simulated to provide a unique estimate of these quantities.

报告人简介：

Dr Derik le Roux is a Senior Lecturer in the Department of Electrical, Electronic and Computer Engineering in the Faculty of Engineering, Built Environment, and IT. He received his BEng, MEng and PhD degrees at the University of Pretoria in 2009, 2013, and 2017 respectively. He completed his thesis “Grinding mill circuit control from a plant-wide control perspective” under the supervision of Prof Ian Craig. The main focus of his research is to resolve major impediments to the implementation of advanced process control as it relates to the processing industry. Specifically, he focusses on realistic approaches to system analysis and synthesis for complex systems, the design of accurate control-relevant process models for model-based control and observer design, and the development of advanced control strategies which can be implemented with relative ease. He serves as the Treasurer of the South African Council for Automation and Control (SACAC) since 2015, as a member of the Publication Board of the International Federation of Automatic Control (IFAC) since 2017, member of the Technical Committee for Mining, Mineral and Metal Processing within IFAC since 2018 and as a member of the Early Career Advisory Board for the journal Control Engineering Practice since 2021.