This paper considers three design methods for execution-level controllers used in an highly autonomous control system designed for The Pennsylvania State Breazeale Reactor (TRIGA reactor). The first method considered is the (balanced realization) optimal Hankel norm approximation, by which the linear model order is reduced by one so that the offending pole is moved away from the origin. The second method is a bilinear transformation-the linear model is transformed to another 'plane,' a controller is developed in this new 'plane,' and the controller is then inverse-transformed to the original 'plane.' The final method will use an embedded controller so that a transform is not required for controller synthesis. These methods are used in the MATLAB environment to design and simulate the execution-level controllers.
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