Multivariable adaptive decoupling controller for vertical loop of continuous bar mill

A multivariable adaptive decoupling controller by combining nonlinear compensation with PI strategy is proposed for the vertical loop of continuous bar mill. It's mathematically proved that the close loop system is globally asymptotically stable and the adaptive parameters can track the real values with small error. The relationship between the controller parameters and the dynamic performance of close loop system, which can be used to tune the controller parameters, is given by some formula. Computer simulation and industrial experimentation show that the controller has good performance.