Multiloop control of a drum boiler

The Equivalent Subsystems Method (ESM) (Kozáková et al., 2011) is methodology of decentralized controller design in the frequency domain which allows designing local controllers using any SISO frequency domain method. The paper deals with the digital ESM version where digital local PID controllers guaranteeing required performance for the full system are designed for individual equivalent subsystems using the practice-oriented Sine-wave method (Bucz et al., 2012). The proposed decentralized controller design procedure was verified on the nonlinear benchmark drum boiler simulation model (Morilla, 2012).