Nonlinear multivariable control and performance analysis of an air-handling unit

To maintain satisfactory comfort conditions in buildings with low energy consumption and operation cost, control of air-conditioner units is required. In this paper, nonlinear control of an air-handling unit (AHU) is investigated and compared for two control approaches: gain scheduling and feedback linearization. A nonlinear multi input-multi output model (MIMO) of an air-handling unit (AHU) is considered. Both indoor temperature and relative humidity are controlled via manipulation of valve positions of air and cold water flow rates. Using an observer to estimate state variables, a hybrid control system including regulation system for disturbance rejection and nonlinear control system for tracking objectives is designed. Achievement of tracking objectives is investigated for various desired commands of indoor temperature and relative humidity: including a sequence of steps and ramps-steps. According to results, more quick time responses with a bit more overshoot in tracking set-points/paths are achieved by using feedback linearization method (especially for temperature). However, valves position as input control signals are associated with less oscillation (and consequently less energy consumption) when the controller designed based on gain scheduling approach is used. Finally, it is shown through phase portrait of the system that the controller designed based on feedback linearization shows a robust performance in the presence of random uncertainty in model parameters. (C) 2010 Elsevier B.V. All rights reserved.