Control system design for a mixing system with multiple inputs

摘要

A method for mixing at least two materials is provided. The method comprises introducing the at least two materials into a physical system and combining the at least two materials to form a mixture thereof. The method also comprises independently controlling a desired characteristic of the mixture and a desired parameter of the physical system, wherein the controlling is based in part on estimating a disturbance, wherein the estimating the disturbance is based on processing an error term determined by subtracting a modeled parameter of the physical system from a corresponding sensed parameter of the physical system.