| Summary: | The article extends a model-based controller design to higher-order systems, focusing on the speed and shapes of the closed loop responses, including the noise attenuation. It shows that, to obtain simple but reliable results, it is necessary to pay attention to the initial process identification and modelling and also to modify the target closed-loop transfer functions, which must remain causal. To attenuate high initial control signal peaks, appropriate pre-filters are introduced. In order to work with as few parameters as possible, all higher-order transfer functions (process models, target closed loops, pre-filters and noise-attenuation filters) are selected in the form of binomial filters with multiple time constants. Consequently, the so-called “half-rule”, used to reduce too complex process transfer functions, has been modified accordingly. Because derived controllers can lead to different transient dynamics depending on the context of use, the article recalls the need to introduce dynamic classes of control to clarify the mission of individual types of controllers. Consequently, also the performance evaluation using the total variation (TV) criterion had to be refined. Indeed, in its original version, TV is not suitable to distinguish between reasonable and excessive control effort due to improper tuning and noise. The modified TVs allow evaluating higher order systems with multiple changes in direction of their control signal increase without contributing to the excessive control increments. The advantages of the proposed modifications, compared to the traditional approaches, are made clear through simulation examples.
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