摘要：AbstractThis paper focuses on robust decentralized controller design for nonlinear drum boiler, which was presented in Morilla (2012) as Benchmark PID problem, having integration term and significant Right-Half Plane (RHP) zero in the interaction. We present the linearized uncertain model identified for the working area determined by four working points. Robust decentralized controller is designed by two approaches; each of them results in controller design on subsystem level. The first approach applies recently developed Equivalent Subsystem Model method (ESM). The second design method uses standard decoupler approach, where we incorporated uncertainty to achieve robust stability. Both approaches are applied and compared on nonlinear boiler model with previous results. The obtained results provide effectiveness of the ESM method and its good applicability.
