Based on experimental data, a fluidized bed combustor is modeled as an interval system. Severe model uncertainty and large time delays lead to the main difficulties in solving the control problem. The design uses the stability test of closed-loop systems as the main guideline for developing a robust PI controller. In particular, a new formula to compute the maximal magnitude of an edge rational function at a fixed frequency is derived, which provides a way to deal with time delay by transforming it into multiplicative uncertainty. Both the theoretical and the experimental results show that the designed PI controller can satisfy the desired performance requirements.
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