**7. Acknowledgment**

The authors gratefully acknowledge the support from MOSTI (Malaysia) Sciencefund: Hardware-in-the-Loop Simulation for Control System of Mini Scale Rotorcraft project No. 13-01-03-SF0024. The previous team researchers Mr Terran and KC Yap are gratefully acknowledged for their help.

### **8. References**

Abdelhakim Deboucha, Zahari Taha, 2010. Identification and control of small-scale helicopter. *Journal of Zhejiang University Science A* (Applied Physics & Engineering). Vol. 11 (12), pp. 978-985

**8** 

**Adaptable PID Versus Smith Predictive Control** 

Industry control processes presents many challenging problems, including non-linear or variable linear dynamic behaviour, variable time delay that means time varying parameters. One of the alternatives to handle with time delay systems is to use prediction technique to compensate the negative influence of the time delay. Smith predictor control (SPC) is one of the simplest and most often used strategies to compensate time delay systems. In this algorithm it is important to choose the right model representation of the linear/non-linear system. The model should be accurate and robust for all working points, with a simple

This work is based in a previews study made in modelling and controlling a gas water heater system. The problem was to control the output water temperature even with water flow, cold water temperature and desired hot water temperature changes. To succeed in this mission one non-linear model based Smith predictive controller was implemented. The

It has been shown that many variable industry linear and non-linear processes are effectively modelled with neural and neuro-fuzzy models like the chemical processes (Tompson & Kramer, 1994). Hammerstein and Wiener models like pH-neutralization, heat exchangers and distillation columns (Pottman & Pearson, 1992), (Eskinat et al., 1991). And hybrid models like heating and cooling processes, fermentation (Psichogios & Ungar, 1992), solid drying processes (Cubillos et al., 1996) and continues stirred tank reactor (CSTR)

In this previews work there were explored this three different modelling types: neuro-fuzzy (Vieira & Mota, 2003), Hammerstein (Vieira & Mota, 2004) and hybrid (Vieira & Mota, 2005) and (Vieira & Mota, 2004a) models that reflex the evolution of the knowledge about the first principles of the system. These kinds of models were used because the system had a nonlinear actuator, time varying linear parameters and varying dead time systems. For dead time systems some other sophisticated solutions appear like in (Hao, Zouaoui, et al., 2011)

main study was to identify the best and simple model of the gas water heater system.

mathematical and transparent representation that makes it interpretable.

**1. Introduction** 

(Abonyi et al., 2002).

**Applied to an Electric Water Heater System** 

*1Polytechnic Institute of Castelo Branco, School of Technology of Castelo Branco,* 

José António Barros Vieira1 and Alexandre Manuel Mota2

 *Department of Electronics Telecommunications and Informatics,* 

*Department of Electrical and Industrial Engineering,* 

*2University of Aveiro,* 

*Portugal* 

