Abstract: Various embodiments of the present disclosure relate to proactive dosing optimization chemical feed units producing an output solution (such as an oxidizing biocide) therefrom. Online sensors generate signals corresponding to directly measured variables for respective process components. Information is selectively retrieved from models relating combinations of input variables to respective industrial process states, wherein various current process states may be indirectly determined based on directly measured variables for respective system components. An output feedback signal is automatically generated corresponding to a detected intervention event based on the indirectly determined process state. A controller may receive the signal and implement, e.g., regulation of oxidizing biocide feed for optimization of end products and/or performance metrics.

Abstract: A method, device and apparatus for processing a control parameter, and a storage medium are provided. The method includes: acquiring first information input to a control system; acquiring second information output after the first information is processed by the control system; obtaining a first parameter characteristic for characterizing a system parameter, according to the first information and the second information; obtaining a second parameter characteristic for adjusting the control parameter, according to the first parameter characteristic and a corresponding relation between the system parameter and the control parameter; and adjusting the control parameter according to the second parameter characteristic. Thus, an adaptive adjustment of the control parameter based on the variation of the scene is realized, and the parameter adjustment efficiency is improved.

Abstract: Disclosed is a system for assessing and monitoring muscle performance with self-adjusting feedback in order to evaluate progress in physiotherapy received by patients who have suffered muscle damage, the method including: A) at least one apparatus for acquiring muscle or biopotential signals; signal conditioning; processing, sending, receiving information; and self-adjusting feedback; B) at least one external computer and/or monitor or graphic interface for viewing external information; C) wherein the at least one apparatus for acquiring muscle or biopotential signals; signal conditioning; processing, sending, receiving information; and self-adjusting feedback and the at least one external computer and/or monitor or graphic interface for viewing external information are configured to carry out a method for measuring, extracting and processing parameters for assessing and monitoring muscle performance with self-adjusting feedback in order to evaluate progress in physiotherapy received by patients who have suff

Abstract: A system control apparatus includes a proportional-integral-derivative (PID) controller configured to control a behavior of a system and having a gain, and a gain determiner configured to apply, to a set adaptive load model, a variable associated with an error that varies based on a load change of the system and adaptively vary the gain using the adaptive load model to which the variable associated with the error is applied.

Abstract: A design method includes: acquiring time-series data of a set of a sample um of a control input u and a sample ym of a control output y; calculating, based on the time-series data, a value ?* of a parameter ? that minimizes a value of an evaluation function J(?,?,um,ym) in a state where ? is set to an initial value ?ini corresponding to a target response yr; calculating, based on the time-series data, a value ?* of ? that minimizes the value of J(?,?,um,ym) in a state where ? is set to ?*; and designing the control system based on ?ini and ?* and ?*. A feedforward controller of the control system receives input of the desired value r and calculates r*=G(?ini,?*)r following a transfer function G(?ini,?*). The feedback controller calculates u=C(?*)(r*?y) following C(?=?*) based on a deviation r*?y. The transfer function G(?ini,?*) is a transfer function Td(?ini)/Td(?*).

Abstract: Systems and methods for coordinating network and control parameters of a power distribution system (PDS) with interconnected microgrids in response to a subset of interconnected microgrids entering island-mode due to a predicted future disaster, generating samples of network and control parameter combinations, determining optimal adjustments of network and control parameters with respect to the disaster condition, determining optimal set of network and control parameters to be reinforced or adjusted, activating the parameter adjustments and reinforcements on the determined tie lines and PCCs of the microgrids.

Abstract: Systems and methods for operating a motor according to parameters provided by an autotuning component if available are described. A controller can be coupled to a drive which operates a motor for executing a task that can be related to a drilling operation for oil and gas. The controller stores initial parameters and checks for new parameters provided by the autotuning component which are stored on the drive after the autotuning component autotunes the motor. If there are new parameters, they are given priority over the initial parameters.

Abstract: A method and system for dampening a stick-slip vibration. The method may comprise determining at least one frequency of a stick-slip vibration; determining mechanical properties of the drilling system; producing a torque signal from a controller having at least a second order; controlling a rotational speed of a top drive from the torque signal produced by the controller; and damping stick-slip vibration of the drilling system. The system may further comprise a drill string and a bottom hole assembly may be connected to the drill string. A drill bit may be connected to the bottom hole assembly and an information handling system may be connected to the drilling system.

Abstract: The present invention relates to a generator control system that includes a generator, a variable displacement pump, a generator speed sensor, and a generator speed controller. The generator speed sensor generates a measurement output signal that corresponds to the speed of the generator. The generator speed controller generates a control signal that controls the displacement of the displacement pump to limit generator speed surging. The generator speed controller applying default commanded event control gain values to the control signal when a commanded change in the load or speed of the engine or generator occurs, applying uncommantled event control gain values to the control signal in the absence of a commanded change in load or speed of the engine or gen erator, and reducing the uncommanded event control gain values as needed until the magnitude of generator speed surging is less than a threshold value or until a minimum uncommanded event control gain value threshold is reached.

Abstract: Systems and methods are provided for using a Deep Reinforcement Learning (DRL) agent to provide adaptive tuning of process controllers, such as Proportional-Integral-Derivative (PID) controllers. The agent can monitor process controller performance, and if unsatisfactory, can attempt to improve it by making incremental changes to the tuning parameters for the process controller. The effect of a tuning change can then be observed by the agent and used to update the agent's process controller tuning policy. It has been unexpectedly discovered that providing adaptive tuning based on incremental changes in tuning parameters, as opposed to making changes independent of current values of the tuning parameters, can provide enhanced or improved control over a controlled variable of a process.

Abstract: A hydronic system (HS) that comprises at least one hydronic circuit (HC) and a control (CT) for controlling the operation of said at least one hydronic circuit (HC) via a control path (CP), whereby said control (CT) comprises a feed forward controller (FFC). Operation of the system is improved by the hydronic system (HS) further comprising a control improvement path (CIP) running from the at least one hydronic circuit (HC) to the control (CT). Due to the control improvement path (CIP), the control (CT) can be improved in the case of the hydronic system (HS) becoming instable and/or showing poor system control.

Abstract: Presented herein are methods, and devices of adaptively tuning a zone based Model Predictive Control (MPC) controller, using at least one processor, which include determining, residuals based on prediction models storing, in a memory, the determined residuals, calculating a trust index by quantifying uncertainty of the prediction models using the stored residuals and tuning the MPC controller, in real time based on the calculated value of the trust index.

Abstract: The technology disclosed detects chiller system instability that reduces false alerts. A smoothed time series of chiller temperature sensor data is tested in a predefined time window for periods of stable operation below a predetermined threshold. The technology disclosed predicts that the reagent chiller is unstable if periods of stable temperature operation are less than a predetermined stability measure or if the stable reagent chiller temperature has exceeded a threshold. The technology disclosed detects flow cell heater failure over multiple cycles in a system. A time series of flow cell heater temperature sensor data is tested to determine if a count of points in a recent process cycle were recorded above a threshold. The technology disclosed determines that a flow cell heater is failing if count of points above a threshold in two consecutive cycles is less than a predetermined count.

Abstract: There is described a device and method for automatically controlling a lighting system including at least two lighting devices. The method comprises the steps of: determining a set of lighting devices to be controlled in an automated mode; determining a start reference time and an end reference time; and determining that one or more criteria for operating in the automated mode are met. Then a lighting device to be the first activated lighting device is selected from deactivated lighting devices of the set of lighting devices; and the first activated lighting device is activated during a pre-determined time period defined relative to the start reference time. Subsequently a lighting device to be the first deactivated lighting device is selected from activated lighting devices; and the first deactivated lighting device is deactivated during a pre-determined time period defined relative to the end reference time.

Abstract: In certain embodiments, a method includes formulating an optimization problem to determine a plurality of model parameters of a system to be modeled. The method also includes solving the optimization problem to define an empirical model of the system. The method further includes training the empirical model using training data. The empirical model is constrained via general constraints relating to first-principles information and process knowledge of the system.

Abstract: The described methods and systems give users situational awareness regarding control loops in a process control system. The user can utilize the loop interface described herein to quickly understand how a given element (e.g., a device or function block) relates to other elements of the control loop. This enables the user to appreciate how modifying a parameter or device, for example, may impact control of the process. The user need not be intimately familiar with the logic associated with a control loop to understand the status of the control loop and its constituent elements. Further, in an embodiment, the user can easily correct certain statuses (e.g., unusual conditions) that arise with respect to the control loop.

Abstract: Driving parameters (e.g., speed, heading direction) that an autonomous driving vehicle (ADV) likely utilize as target driving parameters are grouped into a number of ranges and one of the driving parameters in each range is selected as a driving parameter representative or a target driving parameter representing the respective range or segment. For each of the target driving parameters representing the ranges, a particle swarm optimization method is utilized to derive a set of most optimized coefficients for a controller (e.g., speed controller, steering controller) for controlling an ADV. A driving parameter to coefficient (parameter/coefficient) mapping table is generated to map a particular driving parameter representing a range of driving parameter to a set of one or more coefficients of a particular controller. The parameter/coefficient mapping table is utilized at real-time to configure a controller in response to a particular target driving parameter using the corresponding coefficients.

Abstract: A region linear model optimization system optimizes a region linear model, and includes: a linear model setting unit 81 for setting for a partition a linear model to be applied to one of regions representing subspaces divided by the partition, the partition being an indicator function dividing an input space into two portions; and a region model calculation unit 82 for representing a model of each of the regions in the region linear model as a linear combination of the linear models to be applied to the respective regions.

Abstract: In a method for controlling the administration of insulin to a patient, a target glucose level is set and a controller computes a recommended infusion rate based on the target glucose level and a measured glucose level of a patient for administering insulin to the patient. The controller uses a controller gain for computing the recommended infusion rate. Herein, an insulin sensitivity of the patient is determined using a mathematical model taking into account the measured glucose level and an actual infusion rate of insulin administered to the patient and, based on the insulin sensitivity, the controller gain of the controller is determined. In this way a method for controlling the administration of insulin to a patient is provided which in a reliable, computationally efficient manner allows for maintaining a patient's blood glucose level at or around a desired target glucose level.

Abstract: A numerical controller performs PID control to control the move speed of an axis for driving a spindle such that a load value of the spindle becomes constant. When the spindle load value exceeds a threshold value, a speed calculation unit of the numerical controller calculates an override for the feed rate of the axis instructed by command data such that the load value of the spindle becomes constant, and, at the start of the speed calculation process, assigns the override just before the start of the speed calculation process to an initial value of an integral term or an offset for PID control.

Abstract: A digitally controlled power supply apparatus includes: a switching device converting an input voltage to output a converted voltage based on gate signals that it has received; a smoothing circuit smoothing the converted voltage to output a power supply voltage; an AD converter AD converting the power supply voltage from the smoothing circuit to output a power supply voltage digital data; a PID controller performing PID control operation to an error between a setpoint and the power supply voltage digital data; a switching drive circuit generating gate signals, based on an operation outcome of the PID controller; a control parameter adjuster dynamically performing automatic adjustment of control parameters of the PID controller, based on a history of fluctuations indicated in samplings of the power supply voltage digital data; and a control parameter output unit outputting the control parameters of the PID controller.

Abstract: A first profile of each of resources in which information about characteristics of the resources when creating negawatts by controlling operation of the resources and decreasing electric power consumption of the resources or creating posiwatts by increasing the electric power consumption of the resources, and information about contract content between an aggregator and a relevant consumer are described, and a first control scenario for each electric power trading form in which control content of the resources to decrease the electric power consumption is described are stored; a resource group composed of a plurality of resources is generated by combining the resources so that the negawatts or posiwatts which satisfy conditions of a trading target electric power product can be created, on the basis of the first profile of each resource; a control scenario is selected; and each of the resources constituting the generated resource group is controlled accordingly.

Abstract: A plant simulation device includes a first storage that stores a model that models a state of a facility in a plant, a first parameter that is fixed at a start operation of the plant, and a second parameter that is varied during an operation of the plant, the first parameter and the second parameter being set in the model, and a simulator that compares a process value of the facility with a simulated value calculated using the model and that adjusts the first parameter and the second parameter.

Abstract: A motion assistive apparatus may include a receiver allowing a user to intuitively adjust performance of the motion assistive apparatus and a method of controlling the same. The motion assistive apparatus may include a receiver provided to adjust variable characteristics of the motion assistive apparatus, a processor to adjust a variable parameter related to adjustment of the variable characteristics, in response to adjustment of the variable characteristics through the receiver, and an actuator to output changed assist power in response to adjustment of the variable parameter to change the variable characteristics.

Abstract: A controller includes a communications interface configured to provide a control input to and receive feedback from a plant. The feedback is representative of a response of the plant to the control input over a response period. The controller further includes a time constant estimator. The time constant estimator calculates a normalized variable based on the feedback, each value of the normalized variable representative of the response of the plant at a different time during the response period. The time constant estimator calculates a plurality of time constant estimates, based on the plurality of values of the normalized variable. The time constant estimator determines a maximum time constant from the time constant estimates. The controller further includes a control input generator that generates the control input for the plant using the maximum time constant. The control input affects a variable state or condition of the plant.

Abstract: A system for developing a simulation of a process. In one aspect, a system creates a first model within the simulation. The first model represents a part of the process and comprises a first port to which other models may be connected. The system also creates a second model within the simulation. The second model represents another part of the process and comprises a second port to which other models may be connected. The system then connects the first port and the second port together. Upon connection, the system allocates a memory location as a connection variable that represents a type of information transfer between the first and second ports. A first port variable, which represents a value transferable through the first port, is set to reference the value at the allocated memory location. Similarly, a second port variable, which represents a value transferable through the second port, is also set to reference the value at the allocated memory location.

Abstract: An operator is able to easily perform down-tuning while still achieving superior responsiveness and, in some cases, obtain an equivalent responsiveness as that obtained from the flow rate control device currently being used. In a flow rate control device that performs feedback control of a fluid control valve such that a measured flow rate closely approximates a target flow rate, there are provided a response lag input section that inputs a response lag set value, which is a value showing a response lag that an operator wishes to set, and a response lag generating section that generates response lags used in the feedback control in accordance with the response lag set values.

Abstract: Control signals, such as PWM control signals, can be used to control aspects of a cooling system and can be generated using proportional-integral-derivative (PID) control. PID control systems for cooling systems are designed based on default environmental and system characteristics and pre-programmed for operation prior to delivery to customers or end users. Changes in environmental and system characteristics, such as component aging, environmental variations, and variation in manufacturing from system to system, such as heat sink effectiveness and application of thermal pastes, can impact system level performance of the control system. Adjusting gain parameters for the P, I, and D components of a PID control signal can reduce negative impact on system performance resulting from such changes and allow the control system to better adjust to external factors.

Abstract: A variable PID gain design device, including: a parameter setting unit for setting a natural frequency, a damping ratio, a sampling time, and a nonlinear damping, which enable establishment of an error dynamics required for controlling an object to be controlled; a PID gain induction unit for inducing a PID gain, using the correlation between a PID control and a backstepping control with time delay estimation and nonlinear damping (BCTND), the PID control controlling, using the set parameters, the object to be controlled; and a PID gain calculating unit for calculating a gain of a PID controller by adjusting a BCTND control gain on the basis of the induced PID gain.

Abstract: Touch events can be predicted relative to a visual display by maintaining a database of aggregated touch event history data relative to the visual display and from a plurality of touch screen devices. The database can be queried according to a set of input parameters defining an environment for use of the visual display. The results from the querying of the database can be analyzed to predict a set of touch events within the environment and based upon inferences obtained from the results. A representation of the set of touch events can be displayed along with the visual display.

Abstract: A vehicle steering device includes: a target-steered-angle setting unit configured to set a left target steered angle that is a target value of the steered angle of a left steered wheel and a right target steered angle that is a target value of the steered angle of a right steered wheel; left motor controllers configured to control a left steering motor based on a left-steered-angle deviation that is a difference between the left steered angle and the left target steered angle; right motor controllers configured to control a right steering motor based on a right-steered-angle deviation that is a difference between the right steered angle and the right target steered angle; and an abnormality determination unit configured to determine that an abnormality has occurred when an absolute value of difference between the left-steered-angle deviation and the right-steered-angle deviation is equal to or larger than a first threshold.

Abstract: A method for operating a line circuit (4) for waste heat utilization of an internal combustion engine (2), and a control unit (1). A feed pump (6), at least one heat exchanger (8), an expansion machine (10), a condenser (12) and a control unit (1) are situated in the line circuit (4). The control unit (1) calculates a time period which is required until individual components or all the components of the line circuit (4) have reached a predefined temperature, in order to start up the line circuit (4) at least partially.

Abstract: The present disclosure provides methods of measuring a property of a macromolecule. The methods generally involve applying an empirically learned correction term to a test metric to generate a high-accuracy measurement. The present disclosure further provides a computer program product and a computer system for carrying out a subject method.

Abstract: A method for controlling an operation of a machine according to a model of the machine having uncertainties determines a set of triples of data points representing the operation of the machine over a period of time. Each triple of data points in the set includes two subsequent states of the machine and corresponding control input causing a transition of the machine between the subsequent states. Next, the method determines a current model of the machine based on the set of triples of data points, such that the current model is within a feasible space of models of the machine corresponding to a polytope with vertices defined by base models representing extreme values of different parameters of the model.

Abstract: In one embodiment, a carbon dioxide capturing system includes an absorption tower configured to bring a treatment target gas containing carbon dioxide into contact with an absorption liquid, and to discharge the absorption liquid having absorbed the carbon dioxide. The system further includes a regeneration tower configured to make the absorption liquid discharged from the absorption tower dissipate the carbon dioxide, and to discharge the absorption liquid having dissipated the carbon dioxide. The system further includes a treatment target gas line configured to introduce the treatment target gas into the absorption tower, a first introduction module configured to introduce a first gas having a higher carbon dioxide concentration than the treatment target gas into the treatment target gas line, and a second introduction module configured to introduce a second gas having a lower carbon dioxide concentration than the treatment target gas into the treatment target gas line.

Abstract: A control for a multi-shaft turbine engine system using electrical machines seeks optimal system performance while accommodating hard and soft component limits. To accommodate the component limits, the control may generate a number of possible operating point options reflecting potential trade-offs in performance, lifing, efficiency, or other objectives.

Abstract: An adaptive control device and adaptive control method, and a control device of an injection molding machine, which allow optimal adaptive control to be performed automatically and easily, while preventing a degradation of responsiveness. The adaptive control device is configured to perform feedback control in such a manner that an operation value is output based on a command value and a feedback value which is a sum of a controlled value output from a controlled target and a compensation value output from a parallel feed-forward compensator; wherein the parallel feed-forward compensator includes: an identification section which sequentially estimates a frequency response characteristic of the controlled target and an adjustment section which adjusts the compensation value based on the estimated frequency response characteristic.

Abstract: Controller scaling and parameterization are described. Techniques that can be improved by employing the scaling and parameterization include, but are not limited to, controller design, tuning and optimization. The scaling and parameterization methods described here apply to transfer function based controllers, including PID controllers. The parameterization methods also applies to state feedback and state observer based controllers, as well as linear active disturbance rejection controllers. It is emphasized that this abstract is provided to comply with the rules requiring an abstract that will allow a searcher or other reader to quickly ascertain the subject matter of the application. It is submitted with the understanding that it will not be used to interpret or limit the scope or meaning of the claims.

Abstract: A method includes executing a first function block configured to (i) receive multiple input data values associated with an industrial process control and automation system, (ii) pre-process the input data values, and (iii) store the pre-processed input data values in a shared memory. The method also includes executing a second function block configured to (i) receive references to the pre-processed input data values in the shared memory, (ii) invoke execution of one or more core functions to implement a process control algorithm, and (iii) store output data values in the shared memory. The method further includes executing a third function block configured to (i) receive references to the output data values in the shared memory, (ii) post-process the output data values, and (iii) output multiple output signals containing the post-processed output data values.

Abstract: A non-transitory computer-readable medium storing computer executable code that includes instructions to receive a signal representative of a gas turbine firing temperature. The code further includes instructions to convert the signal to an actuator signal to actuate a fuel valve supplying fuel to the gas turbine by following a first reference function. The first reference function includes a first boundary function, a second boundary function, or a combination thereof. The first boundary function maps a first value to a first temperature and the second boundary function maps a second value to a second temperature.

Abstract: A method of facilitating a drilling operation includes: receiving a current set point for a drilling operation, the current set point indicating a value of an operational parameter at which the drilling operation is being performed; receiving a global limit indicating at least one of a maximum and a minimum value of the operational parameter that is permitted to be applied for the drilling operation; defining a local limit for the operational parameter, the local limit indicating at least one of a local maximum value and a local minimum value of the operational parameter; receiving a parameter change value, the parameter change value indicating a proposed change to the operational parameter from the current set point; and selecting a level of automation by which the operational parameter can be adjusted, the level of automation based on a comparison of the parameter change value and the local limit.

Abstract: The present invention provides a device and a method for the residual analysis of a residuum to detect system errors in the system behavior of an aircraft. The device for the residual analysis of a residuum comprises an apparatus to generate the residuum at least dependent on the reference variable and the system output variable, a comparator unit to provide an analytical result by comparing the residuum to a given threshold, a first unit to provide a constant threshold portion, a second unit to provide an adaptive threshold portion at least dependent on the reference value, which can change over time, and a third unit to provide the threshold by linking the constant threshold portion to the adaptive threshold portion.

Abstract: An apparatus and method for closed-loop-control of a fluid conveying system that include at least one pump, at least one consumer, at least one controller valve, and at least one armature as an actuator of the at least one control valve. Pressure and volume flow rate of the consumer are controlled independently of each other by a decoupling controller.

Abstract: A fuel cell system that employs an on-line self-tuning algorithm that provides temperature control of a fuel cell stack in response to disturbances on the system. The system includes a thermal sub-system having a cooling fluid pump that pumps a cooling fluid through the fuel cell stack, a temperature sensor that measures the temperature of the cooling fluid out of the stack, a radiator that cooling the cooling fluid from the fuel cell stack and a by-pass valve that selectively controls how much of the cooling fluid flows through the radiator or by-passes the radiator. A controller controls the position of the by-pass valve in response to a temperature signal from the temperature sensor. The controller calculates a plurality of variables and a dead-time value, and determines whether the dead-time value should be increased, decreased or kept the same based on an estimate of a dead-time plant model.

Abstract: A method for controlling furnace temperature of a fired heating furnace is disclosed, comprising: measuring furnace temperatures to obtain furnace temperature feedback values; calculating the differences between furnace temperature setting values and the furnace temperature feedback values as discrepancy values DV1, in accordance with the furnace temperature feedback values and the furnace temperature setting value; calculating the differences between the furnace temperature setting values and the furnace temperature feedback values in a unit time, i.e.

Abstract: A method for providing independent static and dynamic models in a prediction, control and optimization environment utilizes an independent static model (20) and an independent dynamic model (22). The static model (20) is a rigorous predictive model that is trained over a wide range of data, whereas the dynamic model (22) is trained over a narrow range of data. The gain K of the static model (20) is utilized to scale the gain k of the dynamic model (22). The forced dynamic portion of the model (22) referred to as the bi variables are scaled by the ratio of the gains K and k. Thereafter, the difference between the new value input to the static model (20) and the prior steady-state value is utilized as an input to the dynamic model (22). The predicted dynamic output is then summed with the previous steady-state value to provide a predicted value Y.

Abstract: At least one embodiment of the present invention is directed to a method and/or an apparatus for automatically providing a common modelling pattern as a function of a plurality of stored process models. The common modelling patterns are identified according to three substeps, namely semantic annotation, extraction of pattern based description and composite process pattern mining. The detected common modelling patterns serve as best practice candidates as regards process engineering. At least one embodiment of the present invention finds application in a variety of domains being related to process management, such as process design, process mining and semantic process planning.

Abstract: In certain embodiments, a control system includes a model-less controller configured to control operation of a plant or process. The control system also includes an automation controller operatively connected for access to a model of the plant or process being controlled by the model-less controller. The automation controller is configured to modify parameters of the model-less controller via an explicit optimization procedure.

Abstract: A system for monitoring pressure change within at least one compartment of an aircraft is provided. The system includes a primary pressure sensor for providing a signal corresponding to a pressure within a primary compartment of the aircraft, a primary monitoring channel coupled to the primary pressure sensor, and an output driver coupled to the primary monitoring channel. The primary monitoring channel includes a band pass filter for receiving and filtering the primary pressure signal, a pressure change circuit for determining a change in the filtered pressure signal and for providing a pressure change output signal corresponding to the change in pressure, and a threshold logic circuit for determining whether the pressure change output signal meets a predetermined threshold and for providing a threshold output signal indicating that a decompression event has occurred if the pressure change output signal meets the predetermined threshold.

Abstract: H-infinity optimization techniques may be automated for multiple input multiple output (MIMO) control problems. In one implementation, a model may be received, where the model includes a plant portion that models elements that are to be controlled and a controller portion that models elements used to control the plant portion, the plant and controller portions of the model interacting with each other in a MIMO feedback configuration. Identification of tunable elements of the controller portion of the model may also be received. Requirements, relating to constraints of open or closed loop transfer functions of the model may also be received. Values for the adjustable parameters of the tunable elements may be calculated, where the calculation may be performed using non-smooth H-infinity optimization techniques and the calculation may be based on the model, the identification of the tunable elements, and the one or more requirements.