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CONTROLENGINEERINGPRACTICEEMBEDDEDVRANCLJUBLJANA,BNOVAGORICAPOLYTECHNIC,NOVAGORICA,SLOVENIAIDENTIfiCATIONSTEPSTOPROVIDERELIABLEOPERATIONTHECONTROLLERMONITORSANDEVALUATESTHECONTROLPERFORMANCEOFTHECLOSEDLOOPSYSTEMTHECONTROLLERWASIMPLEMENTEDONAPROGRAMMABLELOGICCONTROLLERPLCTHEPERFORMANCEISILLUSTRATEDONAfiELDTESTININDUSTRIALAPPLICATIONS,ASSUMMARISEDBELOWARTICLEINPRESSWWWELSEVIERCOM/LOCATE/CONENGPRACC3CORRESPONDINGAUTHORTEL38614773994;1BECAUSEOFTHEDIVERSITYOFREALLIFEPROBLEMS,ASINGLENONLINEARCONTROLMETHODHASARELATIVELYNARROW09670661/SEEFRONTMATTERR2005ELSEVIERLTDALLRIGHTSRESERVEDDOI101016/JCONENGPRAC200505006FAX38614257009EMAILADDRESSSAMOGERKSICIJSSISGERKSˇICˇAPPLICATIONFORCONTROLOFPRESSUREONAHYDRAULICVALVER2005ELSEVIERLTDALLRIGHTSRESERVEDKEYWORDSCONTROLENGINEERING;FUZZYMODELLING;INDUSTRIALCONTROL;MODELBASEDCONTROL;NONLINEARCONTROL;PROGRAMMABLELOGICCONTROLLERS;SELFTUNINGREGULATORS1INTRODUCTIONMODERNCONTROLTHEORYOFFERSMANYCONTROLMETHODSTOACHIEVEMOREEFfiCIENTCONTROLOFNONLINEARPROCESSESTHANPROVIDEDBYCONVENTIONALLINEARMETHODS,TAKINGADVANTAGEOFMOREACCURATEPROCESSMODELSBEQUETTE,1991;HENSONSEBORG,1997;MURRAYSMITHJOHANSEN,1997SURVEYSTAKATSU,ITOH,ARAKI,1998;SEBORG,1999INDICATETHATWHILETHEREISACONSIDERABLEANDGROWINGMARKETFORADVANCEDCONTROLLERS,RELATIVELYFEWVENDORSOFFERTURNKEYPRODUCTSEXCELLENTRESULTSOFADVANCEDCONTROLCONCEPTS,BASEDONFUZZYPARAMETERSCHEDULINGTAN,HANG,CHAI,1997;BABUSˇKA,OOSTERHOFF,OUDSHOORN,BRUIJN,2002,MULTIPLEMODELCONTROLDOUGHERTYCOOPER,2003;GUNDALA,HOO,PIOVOSO,2000,ANDADAPTIVECONTROLHENSONSEBORG,1994;HAGGLUNDA˚STROM,2000,HAVEBEENREPORTEDINTHELITERATUREHOWEVER,THEREARESEVERALRESTRICTIONSFORAPPLYINGTHESEMETHODSDINEADOO,LJUBLJANA,SLOVENIAECOMPUTERTECHNOLOGYINSTITUTE,ATHENS,GREECEFUNIVERSITYOFCHEMICALTECHNOLOGYANDMETALLURGYSOFIA,SOFIA,BULGARIARECEIVED23APRIL2004;ACCEPTED15MAY2005ABSTRACTTHISPAPERPRESENTSANINNOVATIVESELFTUNINGNONLINEARCONTROLLERASPECTADVANCEDCONTROLALGORITHMSFORPROGRAMMABLELOGICCONTROLLERSITISINTENDEDFORTHECONTROLOFHIGHLYNONLINEARPROCESSESWHOSEPROPERTIESCHANGERADICALLYOVERITSRANGEOFOPERATION,ANDINCLUDESTHREEADVANCEDCONTROLALGORITHMSITISDESIGNEDUSINGTHECONCEPTSOFAGENTBASEDSYSTEMS,APPLIEDWITHTHEAIMOFAUTOMATINGSOMEOFTHECONfiGURATIONTASKSTHEPROCESSISREPRESENTEDBYASETOFLOWORDERLOCALLINEARMODELSWHOSEPARAMETERSAREIDENTIfiEDUSINGANONLINELEARNINGPROCEDURETHISPROCEDURECOMBINESMODELIDENTIfiCATIONWITHPREANDPOSTCUNIVERSITYOFLJUBLJANA,FACULTYOFELECTRICALENGINEERING,LJUBLJANA,SLOVENIAADVANCEDCONTROLALGORITHMSLOGICCONTROLLERSAMOGERKSˇICˇA,C3,GREGORDOLANCA,DAMIRSASˇOBLAZˇICˇC,IGORSˇKRJANCC,ZORANMARINSROBERTKINGE,MINCHOHADJISKIAJOZˇEFSTEFANINSTITUTE,INAPROGRAMMABLEˇICA,JUSˇKOCIJANA,B,STANKOSTRMCˇNIKA,ˇEKD,MIHABOZˇICˇEKD,ANNASTATHAKIE,F,KOSTABOSHNAKOVFSLOVENIA–FRIENDMATICINDUSTFROMLING,PROCEDCONTROLLERMONITORSTHERESULTINGCONTROLPERFORMANCEARTICLEINPRESSANONLINEARPROCESSMODELTHEMODELISOBTAINEDOPERATINGPROCESSSIGNALSBYEXPERIMENTALMODELUSINGANOVELONLINELEARNINGPROCEDURETHISTHEFROMFORIMPLEMENTATIONONPLCOROPENCONTROLLERRIALHARDWAREPLATFORMSCONTROLLERPARAMETERSAREAUTOMATICALLYTUNEDFEATUADAPTEDSSIONINGOFTHECONTROLLERISSIMPLIfiEDBYAUTOEXPERIMENTATIONANDTUNINGADISTINGUISHINGREOFTHECONTROLLERISTHATTHEALGORITHMSAREMETECOMMITHEASPECTCONTROLLERISANEFfiCIENTANDUSERLYENGINEERINGTOOLFORIMPLEMENTATIONOFPARARSCHEDULINGCONTROLINTHEPROCESSINDUSTRYTHEUSED,THESENSORREADINGS,SPECIfiCHARDWAREPLATFORMSAREETCISDEMANDEDTOfiELDOFAPPLICATIONTHEREFORE,MOREflEXIBLEMETHODSORATOOLBOXOFMETHODSAREREQUIREDININDUSTRY2NEWMETHODSAREUSUALLYNOTAVAILABLEINAREADYTOUSEINDUSTRIALFORMCUSTOMDESIGNREQUIRESCONSIDERABLEEFFORT,TIMEANDMONEY3THEHARDWAREREQUIREMENTSARERELATIVELYHIGH,DUETOTHECOMPLEXITYOFIMPLEMENTATIONANDCOMPUTATIONALDEMANDS4THECOMPLEXITYOFTUNINGBABUSˇKAETAL,2002ANDMAINTENANCEMAKESTHEMETHODSUNATTRACTIVETONONSPECIALISEDENGINEERS5THERELIABILITYOFNONLINEARMODELLINGISOFTENINQUESTION6MANYNONLINEARPROCESSESCANBECONTROLLEDUSINGTHEWELLKNOWNANDINDUSTRIALLYPROVENPIDCONTROLLERACONSIDERABLEDIRECTPERFORMANCEINCREASEfiNANCIALGAINISDEMANDEDWHENREPLACINGACONVENTIONALCONTROLSYSTEMWITHANADVANCEDONETHEMAINTENANCECOSTSOFANINADEQUATECONVENTIONALCONTROLSOLUTIONMAYBELESSOBVIOUSTHEAIMOFTHISWORKISTODESIGNANADVANCEDCONTROLLERTHATADDRESSESSOMEOFTHEAFOREMENTIONEDPROBLEMSBYUSINGTHECONCEPTSOFAGENTBASEDSYSTEMSABSWOOLDRIDGEJENNINGS,1995THEMAINPURPOSEISTOSIMPLIFYCONTROLLERCONfiGURATIONBYPARTIALAUTOMATIONOFTHECOMMISSIONINGPROCEDURE,WHICHISTYPICALLYPERFORMEDBYTHECONTROLENGINEERABSSOLVEDIFfiCULTPROBLEMSBYASSIGNINGTASKSTONETWORKEDSOFTWAREAGENTSTHESOFTWAREAGENTSARECHARACTERISEDBYPROPERTIESSUCHASAUTONOMYOPERATIONWITHOUTDIRECTINTERVENTIONOFHUMANS,SOCIALABILITYINTERACTIONWITHOTHERAGENTS,REACTIVITYPERCEPTIONANDRESPONSETOTHEENVIRONMENT,PROACTIVENESSGOALDIRECTEDBEHAVIOUR,TAKINGTHEINITIATIVE,ETCTHISWORKDOESNOTADDRESSISSUESOFABSTHEORY,BUTRATHERTHEAPPLICATIONOFTHEBASICCONCEPTSOFABSTOTHEfiELDOFPROCESSSYSTEMSENGINEERINGINTHISCONTEXT,ANUMBEROFLIMITSHAVETOBECONSIDEREDFOREXAMPLEINITIATIVEISRESTRICTED,AHIGHDEGREEOFRELIABILITYANDPREDICTABILITY,INSIGHTINTOTHEPROBLEMDOMAINISLIMITEDSGERKSˇICˇETAL/CONTROLENGINE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THEPREVIOUSSETOFPARAMETERSTHEREFORE,TH
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