ROBUSTNESSOFDISCRETE

LINEARQUADRATICCONTROLLERS
LuisG.BerghandJohnF.MacGregor
McMasterUniversity
Hamilton,OntarioL8S4L7
JeffreyJ.Siirola
EastmanChemicalCompany
Kingsport,TN37662

Abstract
Thisexampledocumentisamessypastichetoillustratestyleonly.Itisnotmeanttomakeanysense
whatsoeverfromatechnicalstandpoint! However,commentsaboutproperformattingofyourpaper
usingthesuppliedMacintoshorPCWorddocumentfilesareinterspersedwiththepseudotechnical
stuff.Pleasescanthroughtheentireexamplesothatyoudon'tmissanything.Itiscriticalthatyouuse
thesupplieddocumentfilesandthateveryparagraph(anysequenceofcharactersappearingbetween
paragraphterminatorstheEnterkeyonaPCorthereturnkeyonaMacintosh)beassignedoneofthe
29presetstyles(fromthepulldownmenuintheStyleBoxinthestandardWordtoolbar).Forexample,
thelinesstartingatthetopofthispageare,respectively,inTitle,Author,Affiliation,Location,Author,
Affiliation, Location,and AbstractHeading styles. Thisparagraphisin AbstractBody style. The
followingparagraphsareinKeywordsHeading,KeywordsBody,andMainHeadingstyles.Note:Do
not attempt to make your paper look like this sample without using the preset styles; every
paragraphmustbeformattedwiththeproperpresetstylesothatthefinalelectronicversionof
theentireProceedingswillbeproperlyformatted. Beespeciallycarefultofollowtheproperform
(describedintheAuthorsinstructions)whenenteringfigureandtablecaptions(FigureCaption and
Table Caption styles, respectively) and the Harvard form for both citing and listing references (in
Referencestyle).

Keywords
Linearquadraticcontrol,Minimumvariancecontrol,Internalmodelcontrol,Robustness,Discretetime
systems.
Introduction
Otherstandardparagraphsinthepaperbodyarein
Normalstyleandareindented.Noextrablankspaceis
inserted between paragraphs. Most modern control
theoriesaremodelbased.Acontrollerissaidtoberobust
ifthestabilityandperformanceoftheclosedloopsystem
are not severely compromised by moderate errors
incorporatedintotheprocessmodel.

Note: Thefirst mainheading(Introduction)appearsas

thelastlineofthesinglecolumnformattedsectionthat
alsocontainsthetitle,abstract,andkeywords,i.e.,itisnot
part of the doublecolumn section containing this
paragraph.Theveryfirstparagraphinthepaperbodyisin
FirstParagraphstyleandisnotindented.

CONTROLLERS

ProcessConditions
Thatwasasubheading(SubHeadingstyle);notethat
important words are capitalized. Process conditions do
changewithtimeandnonlinearitiesdochangetheprocess
behaviorindifferentoperatingregions.
RobustnessandPerformance
Consider the general discrete linear dynamic
stochasticmodel

x
x
2 x
y
(r )
(r )
(y) 2
t
r
y
z

(1)

wherethefirsttermistheprocesstransferfunction.This
paragraph is in Continuing Paragraph style this
unindentedstyleisoftenneededafterequations.
Assuming that the model of Eqn. (1) was used to
designaminimumvariance controller,thecharacteristic
equation of the resulting closedloop system would be
givenbysomethingverystrange:

x
x
2 x
y
(r )
(r )
(y) 2
t
r
y
z

Thepolynomial T(z1)isthenumeratorterm inthe

forecastexpressionforthedisturbance(i.e.,Nt+f+1=
(T(z1)/h(z1)d)at). The stability of the closedloop
system depends on the roots of this characteristic
equation.Thesecondtermofthisequationinthesquare
brackets is a model/process mismatch term, as is
illustratedinFig.2.Trytoinsertfiguresnearwherethey
arereferenced,nottogetherattheendofthepaper.

(2)

Figure2.Thisisthefigurecaptionfora
typicalOLEembeddedfigure.
Forcomparison,Table1containsresultsdetermined
by Hiebert (1980) using Powell's dogleg algorithm
(HYBRD1, HYBRD2 from the MINPACK library) and
byChenandStadherr(1981)usingamodifiedversionof
Powell'sdoglegalgorithm.
Conclusions
The results indicate that the prototype algorithm
generally had less difficulty solving the equations, and
appearstobemorerobustforthesolutionofthechemical
equilibriumproblemsfoundbyDog(1958). Thatwasa
reference!Inthisshortpaper 1wehavepresentedapartof
ourworkontherobustnessofunivariateLQGcontrollers.
Here is an example of a single item for inserting
indentedmaterialinaparagraph:
Asingleitem(ItemSinglestyle)isindentedfrom
both margins with no hanging indents on
subsequentlines.
Thisisacontinuingparagraphfollowedbythreeitems:
1. ItemFirststylehasspaceabove.
a. Itemstyle.Thesethreeitemstyleseachhave
hangingindentsforsubsequentlines.
ItemLaststylehasspacebelow.

Figure1.Scannedphotoofanoldchemical
engineer.
Please avoid insertion of glossy photos in your
manuscriptifyoucan.UseascannedimagesuchasFig.
1instead(youcanprobablydobetter!).

Back to a normal paragraph here. Position figures

andtablessothat theyappear onasinglepage. Dont
leave large gaps in the text that will detract from the
1Thisisasamplefootnotethatmightappearinthiscolumn.It

willbepositionedunderaseparatingtwoinchrulewhenyou
chooseFootnotefromtheInsertmenu.

DiscreteLinearQuadraticControllers
appearance of the final version of the paper (and, in
addition, add pages to the paper by wasting allocated
space). Minorgapsareacceptable. Yourpaperwillbe

importedintoacompoundelectronicdocument;wemay
makemodestrearrangmentsinthefinalProceedings.

Table1.ThisistheTableCaptionforaPageWideTable.

SYSTEM
1a
2a
3a
4a
8a
8b
8c
12a
13a
15a
15b
16a
16b
16c
16d
17a
17b
17c
17d
17e
17f

NumberofFunctionEvaluationsRequiredforSolution
N
NEQLU1
NEQLU2
NEQLU3
NEQLU4 HYBRD1 HYBRD2
2
31
45
7
6
23
26
4
43
49
47
47
*
*
2
104
90
40
32
181
177
4
69
62
97
85
95
89
10
22
24
26
26
31
34
30
48
45
98
98
115
111
40
63
106
152
152
92
190
10
31
31
31
31
32
33
10
20
20
20
20
21
21
2
*
*
*
*
*
*
2
*
*
67
54
*
*
6
*
*
*
*
*
*
6
*
*
114
117
51
86
6
*
*
36
36
23
103
6
*
*
84
84
*
75
10
45
30
41
41
*
*
10
17
16
46
33
*
*
10
43
42
45
45
*
*
10
39
40
41
41
38
39
10
144
280
117
127
*
*
10
80
*
94
156
*
*
*indicatesfailureofthesubroutinetosolvethesystemofequation

Keep figures and tables within a singe column, if

possible. For larger objects, such as the table above,
Word requires that you create and format a new page
widesectionthatisidenticalinformattothefirstpage
wide section (the one containing the title, author
information,abstract,andkeywords).
Ifyoufeeluncomfortabledoingthat,justincludeall
such figures and tables in a single column pagewide
sectionattheveryendofyourdocumenttemplatefile,as
shownonthenextpage.Then,inaprintedcopyofyour
paper, indicate where you would like these pagewide
objectstoappearinthefinaldocument.Whenweformat
thedocumentasawhole,wewillcreatenewsectionsto
position your pagewide material where you want it to
appear.
Nomenclature
Vz =velocityintheaxialdirection,m/s

=density,kg/m3

References
Abell, B. C. (1956). Nucleic acid content of microsomes.
Nature,135,79.
Abell, B. C., R. G. Tagg, and M. Rush (1954). Enzyme
catalyzed cellular transaminations. In A. F. Round
(Ed.), Advances in Enzymology, Vol. 2, 3rd ed.
AcademicPress,NewYork.pp.125247.
Baker, R. C. (1963a). Microscopic Staining Techniques.
Butterworths,London.
Baker,R.C.(1963b).Methodsofpreparingthinsectionslides.
J.Brit.Med.Assoc.,34,184186.
Charlie, F. H., and M. B. Roth (1966). The chemical
determinationoftoxins. J.Am.Chem.Soc.,66,267
269.
Dog, P. R. (1958). In R. W. Brown (Ed.), Chemical
Carcinogenesis,Vol. II. Chapman&Hall, London.
Chap.7,pp.5698.
Palmor, Z. and R. Shinnar (1970). Design of sampled data
controllers. Ind.Eng.Chem.,Proc.Des.Dev.,18,8
30.
Palmor, Z. (1982). Properties of optimal stochastic control
systemswithdeadtime.Automatica,18,1,107116.
Palmor, Z. (1982). On the practical stability of optimal
stochastic control systems with deadtime.
Automatica,18,4,491492.

CONTROLLERS

Smith,J.A.(1988).NetworkprogrammingfromaUnixbased
workstation using a process command paradigm,
AIChENationalMeeting,NewOrleans.
Vandevan, G, L. T. Watson, and F. H. Lutze (1989). A
homotopy approach for solving constrained
optimizationproblems. ProceedingsoftheAmerican
ControlConf.,Pittsburgh.pp.780785.

PleasebecarefultoenterallreferencesusingtheReferencestyleillustratedintheprecedingReferencelist.
Theformofeachreferenceandtheformofcitationstoreferencesinthebodyofthepaperaredescribedindetail
inthedocumentwithInstructionsforAuthors.DONOTUSEADIFFERENTSCHEMEFORREFERENCES;
EVERYPAPERMUSTUSETHESAMEHARVARDNOTATION.
Westronglyencourageyoutomakeyourfiguresandtablesnowiderthanonecolumnofthedoublecolumnformat
ofthedocumentbody.However,ifyouwish,youmaycreateasinglecolumnpagewideWordsectionsimilartothis
oneattheveryendofthepapertemplate. There,youcansave figuresandtablesthataretoowide forreasonable
positioning in one column of the doublecolumn body. This feature will allow you to "pack" your paper into the
minimumrequiredspaceandmakeiteasytogetanaccuratemeasureofhowlongyourfinalpaperwillbewhenit
appearsintheProceedings.
WhenyoureturnthetemplatefilecontainingyourpapertotheEditors,please includetwoprintedcopiesofthe
paper.Leaveoneuntouched.Ontheother,indicate(withpencil)whereinthefinaldocumentyouwouldlikeeachof
thewidefiguresand/ortablesinthissectiontoappear.