Fig. 1 Prediction model for the proposed offset-free NMPC More about this image found in Prediction model for the proposed offset-free NMPC

Fig. 2 Proposed offset-free NMPC with integrated input disturbance/output disturbance/unknown parameter estimation More about this image found in Proposed offset-free NMPC with integrated input disturbance/output disturba...

Fig. 3 Estimated parameter using the proposed scheme, the MHE and the EKF schemes More about this image found in Estimated parameter using the proposed scheme, the MHE and the EKF schemes

Fig. 4 Plant's responses with plant-model mismatch (model: k o is estimated by the proposed method, MHE and EKF-based schemes, and updated in NMPC law; plant: the actual trajectory of k o is shown in Fig. 3 as dashed-dotted line) More about this image found in Plant's responses with plant-model mismatch (model: k o is e...

Fig. 5 Plant's responses with plant-model mismatch using NMPC with the proposed integrated output disturbance model, MHE and EKF-based schemes (model: k o = 300 ; plant: the actual trajectory of k o is shown in Fig. 3 as dashed-dotted line) More about this image found in Plant's responses with plant-model mismatch using NMPC with the proposed in...

Fig. 6 Plant's responses with structural plant-model mismatch using NMPC with the proposed integrated output disturbance model, MHE and EKF-based schemes (model: Eqs. (19 a ) and (19 b ) with k o = 300 , Plant: the actual trajectory of k o is shown in Fig. 3 as... More about this image found in Plant's responses with structural plant-model mismatch using NMPC with the ...

Fig. 7 Estimated parameter value of c 2 using the proposed scheme, the MHE and the EKF schemes More about this image found in Estimated parameter value of c 2 using the proposed scheme, ...

Fig. 8 Experimental results 1 with parametric uncertainty in c 2 (model: c 2 is estimated by the proposed method, MHE and EKF-based schemes and updated in the NMPC law; plant: the actual trajectory of c 2 is plotted in Fig. 7 as dashed-dotted line) More about this image found in Experimental results 1 with parametric uncertainty in c 2 (m...

Fig. 9 Experimental results 2 with parametric uncertainty in c 2 (model: c 2 = 0.333 ; plant: the actual trajectory of c 2 is plotted in Fig. 7 as dashed-dotted line) More about this image found in Experimental results 2 with parametric uncertainty in c 2 (m...

Fig. 10 Experimental results 3 with both structural plant/model mismatch and parametric uncertainty in c 2 (model: Eqs. (27 a ) – (27 c ) with c 2 = 0.333 , plant: the actual trajectory of c 2 is plotted in Fig. 7 as dashed-dotted line) More about this image found in Experimental results 3 with both structural plant/model mismatch and parame...

Fig. 1 The schematic of a typical R2R printing system More about this image found in The schematic of a typical R2R printing system

Fig. 2 The simplified diagram of the ADC method More about this image found in The simplified diagram of the ADC method

Fig. 3 An industrial R2R rotogravure printing press More about this image found in An industrial R2R rotogravure printing press

Fig. 4 Model validation: ( a ) inputs of No. 2 printing unit, ( b ) inputs of No. 3-7 printing unit, ( c ) fitting effect of No. 2 printing unit, ( d ) fitting effect of No. 3 printing unit, ( e ) fitting effect of No. 4 printing unit, and ( f ) fitting effect of No. 7 printing unit More about this image found in Model validation: ( a ) inputs of No. 2 printing unit, ( b ) inputs of No. ...

Fig. 5 Register errors controlled by ADC: ( a ) register errors of No. 2 printing unit and ( b ) register errors of Nos. 3-7 printing units More about this image found in Register errors controlled by ADC: ( a ) register errors of No. 2 printing ...

Fig. 6 Register errors controlled by ADC with and without disturbances: ( a ) register errors of No. 2 printing unit, ( b ) register errors of No. 3 and No. 4 printing units, ( c ) register errors of No. 5 and No. 6 printing units, and ( d )register errors of No. 7 printing unit More about this image found in Register errors controlled by ADC with and without disturbances: ( a ) regi...