A unified design for feedback-feedforward control system to improve regulatory control performance

Regular Paper Control Theory


The PID controller is widely used in industries because of its simplicity and robustness. A simple approach to improve regulatory control performance is to combine both feedback PID and feedforward controllers. The feedforward controller enables early compensation of a measured disturbance before it can seriously affect the process. The conventionally derived non-ideal feedforward controllers are not often used in practice. The reason is that an ideal feedforward controller based on direct inversion of process model is often not physically realizable. Several non-ideal feedforward control designs have been proposed where some of them involve rather intensive tuning procedure to obtain good disturbance rejection. In this paper, we present a new systematic method for designing a combined feedback-feedforward control system. The proposed design method is easy to use and applicable to stable, unstable and integrating deadtime processes where the ideal feedforward controller is physically not realizable.


Feedback-feedforward control design multi-scale control PID controller tuning regulatory control 


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. [1]
    A. E. Nisenfeld and R. K. Mitasaki, “Applications of feedforward control to distillation columns,” Automatica, vol. 9, no. 3, pp. 319–327, May 1973.CrossRefGoogle Scholar
  2. [2]
    T. E. Marlin, Process Control: Designing Processes and Control Systems for Dynamic Performance, McGraw-Hill, Singapore, 2000.Google Scholar
  3. [3]
    D. E. Seborg, T. F. Edgar, and D. A. Mellichamp, Process Dynamics and Control, John Wiley & Sons, NJ, 2004.Google Scholar
  4. [4]
    C. K. Weng and A. Ray, “Robust wide-range control of steam-electric power plants,” IEEE Trans. on Control Syst. Technol., vol. 5, no. 1, pp. 74–88, January 1997.CrossRefGoogle Scholar
  5. [5]
    M. Morari and E. Zafiriou, Robust Process Control, Prentice Hall, Upper Saddle River, NJ, 1989.Google Scholar
  6. [6]
    C. Rodriguez, J. L. Guzman, M. Berenguel, and T. Hägglund, “Generalized feedforward tuning rules for non-realizable delay inversion,” J. Process Control, vol. 23, no. 9, pp. 1241–1250, October 2013.CrossRefGoogle Scholar
  7. [7]
    J. L. Guzman and T. Hägglund, “Simple tuning rules for feedforward compensators,” J. Process Control, vol. 21, no. 1, pp. 92–102, January 2011.CrossRefGoogle Scholar
  8. [8]
    M. Hast and T. Hägglund, “Design of optimal low-order feedforward controllers,” Proc. of IFAC Conference on Advances in PID Control, 483–488, 2012.Google Scholar
  9. [9]
    R. Vilanova, O. Arrieta, and P. Ponsa, “IMC based feedforward controller framework for disturbance attenuation on uncertain system,” ISA Trans., vol. 48, no. 4, pp. 439–448, October 2009.CrossRefGoogle Scholar
  10. [10]
    J. Nandong and Z. Zang, “Novel multiscale control scheme for nonminimum-phase processes,” Ind. Eng. Chem. Res., vol. 52, no. 24, pp. 8248–8249, May 2013.CrossRefGoogle Scholar
  11. [11]
    J. Nandong and Z. Zang, “High-performance multi-scale control scheme for stable, integrating and unstable time-delay processes,” J. Process Control, vol. 23, no. 10, pp. 1333–1343, November 2013.CrossRefGoogle Scholar

Copyright information

© Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag Berlin Heidelberg 2015

Authors and Affiliations

  1. 1.Department of Chemical and Petroleum EngineeringCurtin UniversityMiriMalaysia

Personalised recommendations