Digital control of output variables in a given range considering delay

The article is devoted to the control of a dynamic object with the retention of controlled variables in the required range, taking into account the high dimension of input and output, time delay, constraints and external disturbances. The formalized statement of the problem of digital control synthesis is considered. An approach based on the use of predictive models is proposed. Its key feature is the introduction of a specialized quality functional that reflects the specifics of the problem, the error functional. This functional plays the role of a penalty for the output of controlled variables that go beyond the specified range. It is shown that the implementation of the control law is reduced to solving the problem of quadratic programming at each instant of discrete time. The results obtained are illustrated by an example of controlling the oil refining process in a distillation column.