Linearizing feedforward–feedback control of pH processes based on the Wiener model

This paper examines the control of pH processes based on the Wiener model construct (a dynamic linear element representing the mixing dynamics of the process in series with a static nonlinearity representing the titration curve). Conditions under which the pH process behaves like an exact Wiener system are examined. Linearization by output transformation using both the true inverse of the titration curve and an estimate of the inverse is employed to make the pH process appear linear enabling the application of a linear feedback (PI) controller. Although many others have utilized an identified nonlinearity for linearizing feedback control of pH processes, much less work has been done on using the nonlinearity for linearizing feedforward control. Here, a simple linearizing feedforward controller is proposed based on a current estimate of the inverse titration curve. Simulated closed-loop results demonstrate the superiority of the linearizing feedforward–feedback strategy versus linearizing feedback only, when the inverse titration curve is accurately estimated.