Internal Process Controls - Control of Color Imaging Systems: Analysis and Design - page 537

TABLE 9.2
Figures of Merit Comparison between Three Different Methods (a) Smith
Predictor with PI Controller, (b) State Feedback, and (c) Advanced Nonlinear
Controller Obtained for a TC Response with a Step Input of 3%-4%

Figure of Merit (%)

Percentage of
Noise (%)

Color
Band

State
Feedback

Smith
Predictor

Model Predictive
Controller (Not Described)

0 C 97.1473 97.3953 96.3173

M 97.4564 97.6286 96.8857

Y 97.5516 97.7089 96.9879

K 98.1352 98.1406 97.7218

1 C 97.0907 97.2207 96.4488

M 97.4071 97.6397 97.1076

Y 97.4999 97.7065 97.3143

K 98.0873 97.8153 97.1949

2 C 97.0717 97.1049 95.9487

M 97.3869 97.1762 96.3570

Y 97.4825 97.5682 96.4380

K 98.0096 97.1548 95.1828

3 C 97.0907 96.8273 95.1031

M 97.3146 96.1433 95.3468

Y 97.4069 96.3993 94.3575

K 97.7942 96.9666 92.7476

5 C 96.9215 94.7087 93.6156

M 97.0455 92.7874 92.8630

Y 97.1700 95.5060 89.9066

K 97.4503 90.5272 86.4776

Note: Uses area coverage, time delay actuator saturation, and sensor noise as various system elements
affecting the TC response.

D

v

x

e B

C

Integrator

A

FIGURE 9.50 Block diagram of the state-space form for a MIMO PI controller.

saturates to the maximum allowable actuator limit, v ¼ u max . The actuator windup
occurs when the controller matrix A is not stable and error vector e(k) is nonzero. The
antiwindup compensator, with a high gain feedback should be able to make the
controller matrix stable again.