In specifying refrigeration equipment the function of the equipment must be absolutely clear. Refrigeration equipment is always used to control tem- perature. Either the meat passing through the process is to be maintained it its initial temperature, for example as in a refrigerated store or a packing operation, or the temperature of the meat is to be reduced, for example in a blast freezer. These two functions

Thawing has received much less attention in the literature than either chill- ing or freezing. In commercial practice there are relatively few controlled thawing systems. Frozen meat, as supplied to the industry, ranges in size and shape from complete hindquarters of beef to small breasts of lamb, although the major- ity of the material is 'boned-out' and packed in boxes ca. 15 cm thick weigh- ing between 20 and 40kg. Thawing is usually regarded as complete when the centre of the block or joint has

Reference input -II 16. 3117-23 On page 17-5, compensator implemented with a reference command y changing to feedback on e(t=r(t-y(t) rather than -y(t)

Weighting Matrix Selection a good rule of thumb when selecting the weighting matrices Rxx (or Ru and R uu is to normalize

Bounded gain There exist very easy ways of testing(analytically) whether S Gu)< SISO Bounded Gain Theorem: Gain of generic stable system

State-Space Systems e Ful-state feedback Control How do we change the poles of the state-space system? Or, even if we can change the pole locations Where do we change the pole locations to? How well does this approach work?

Closed-loop system analysis Robustness State-space -eigenvalue analysis Frequency domain- Nyquist theorem Sensitivity Copyright 2001 by Jonathan How

Interpretations With noise in the system, the model is of the form =AC+ Bu+ Buw, y= Ca +U And the estimator is of the form =Ai+ Bu+L(y-9,y=Ci e Analysis: in this case: C-I=[AT+ Bu+Buw-[Ac+ Bu+L(y-gI A(-)-L(CI-Ca)+B

Full-state Feedback Control How do we change the poles of the state-space system? Or, even if we can change the pole locations Where do we put the poles? Linear Quadratic Regulator Symmetric Root Locus How well does this approach work? Copyright [2001 by JOnathan dHow

State-Space Systems What are the basic properties of a state-space model, and how do we analyze these? e Time Domain Interpretations System Modes Copyright 2001 by Jonathan How