Patent ID: 7949415

Claim:
A control system for controlling an integrating process, comprising: an input through which a set point for the process is input; an output through which a control output is output to the process for controlling the process; and a controller in which the integrating process is represented using a non-integrating process model that approximates the behavior of the integrating process, and the controller configured to: in response to a set point change, predict a process variable of the integrating process using the non-integrating model as part of a parametric model-based control technique; and generate the control output based on the predicted process variable; wherein the control technique inverts at least an invertible portion of the non-integrating process model and applies a filter to the inverted portion of the model; and wherein the filter is represented by: ( γ ⁢ ⁢ s + 1 ) m ( ɛ ⁢ ⁢ s + 1 ) n where n is greater than m and m is greater than or equal to zero, ε is a filter time constant, γ is lead time constant of the filter and S is a Laplace variable, and where γ is selected to minimize a steady state error for a step input disturbance to the process by representing γ as 1 m ⁢ ( n ⁢ ⁢ ɛ + D ^ ) where {circumflex over (D)} is an estimated dead time of the process.