METHOD AND APPARATUS FOR DESIGNING MODEL-BASED CONTROL HAVING SPATIAL ROBUSTNESS FOR MULTIPLE-ARRAY CROSS- DIRECTION (CD) WEB MANUFACTURING OR PROCESSING SYSTEMS OR OTHER SYSTEMS

摘要

A method includes obtaining (902) one or more models (304) associated with a model-based controller (104, 306) in an industrial process (100, 302) having multiple actuator arrays (114, 116, 118, 120) and performing (906) spatial tuning of the controller. The spatial tuning includes identifying weighting matrices that suppress one or more frequency components in actuator profiles of the actuator arrays. The spatial tuning could also include finding (908) a worst-case cutoff frequency over all output channels for each process input, designing (910) the weighting matrices to penalize higher-frequency actuator variability based on the model(s) and the cutoff frequencies, and finding (912) a multiplier for a spatial frequency weighted actuator variability term in a function that guarantees robust spatial stability. The controller could be configured to use a function during control of the industrial process, where a change to one or more terms of the function alters operation of the controller and the industrial process and at least one term is based on the weighting matrices.