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This paper deals with a case when multiple inputs are needed to cover the steady-state operating range. The most common implementation is to use split range control with a single controller. However, this approach has some limitations. In this paper, we use multiple controllers with different setpoints and demonstrate that this structure can be optimal in some cases when the cost of the input can be traded off against the penalty of deviating from the desired setpoint. We describe a procedure to find the optimal setpoint deviations. We illustrate our procedure in a case in which three inputs (cooling and two sources of heating) are used to control the temperature of a room with a PID-based control structure and without the need of online optimization.

Multiple-Input Single-Output Control for Extending the Steady-State Operating Range—Use of Controllers with Different Setpoints