Constrained Cascade control For Parallel Cascade system
Output constraints usually occur when the number of manipulated variables is smaller than the number of output variables. In this case, every output cannot have its own set point. Some of the outputs can then only be constrained to a specific range of values instead of being associated to a specific set point value. The respect of the constraints for these outputs has priority over the other outputs with set points. One of the objective of this section is to develop methods applicable to a one-input and multiple-output processes where one output must reach a given set point as long as the other outputs lie between their lower and upper limits.