Linear Algebra-Based Controller Implementation Issues

In this chapter, the advantages of using this methodology to design the tracking control for nonlinear processes is first summarized, and later on, some issues and critical drawbacks are discussed. As always in discrete time (DT) control, sampling period selection is crucial and should be decided as a trade-off between computational load and control effort also affecting the transient errors. A discussion about the simplicity of the models and the performance of the controlled plant is also included. The model constraints are outlined, the main limitation being the requirements of being affine in the control and minimum phase. The full state feedback can be overcome by using nonlinear state observers. Some simple guidelines to implement the designed controller are provided.