Control of Multiple-Input, MultipleOutput (MIMO) Processes Chapter 18

18.1 Process Interactions and Control Loop Interactions 18.2 Pairing of Controlled and Manipulated Variables 18.3 Singular Value Analysis 18.4 Tuning of Multiloop PID Control Systems 18.5 Decoupling and Multivariable Control Strategies 18.6 Strategies for Reducing Control Loop Interactions

Control of Multivariable Processes

Chapter 18

In practical control problems there typically are a number of process variables which must be controlled and a number which can be manipulated. Example: product quality and throughput must usually be controlled.

Several simple physical examples are shown in Fig. 18.1. Note the "process interactions" between controlled and manipulated variables. 2

Chapter 18

SEE FIGURE 18.1 in text.

Chapter 18

 Controlled Variables: xD , xB , P, hD , and hB Manipulated Variables: D, B, R, QD , and QB Note: Possible multiloop control strategies = 5! = 120

Chapter 18

 In this chapter we will be concerned with characterizing process interactions and selecting an appropriate multiloop control configuration. If process interactions are significant, even the best multiloop control system may not provide satisfactory control.

Chapter 18

In these situations there are incentives for considering multivariable control strategies.

Definitions:
Multiloop control: Each manipulated variable depends on only a single controlled variable, i.e., a set of conventional feedback controllers. Multivariable Control: Each manipulated variable can depend on two or more of the controlled variables. Examples: decoupling control, model predictive control 6

Multiloop Control Strategy

Typical industrial approach Consists of using n standard FB controllers (e.g., PID), one for each controlled variable.

Control system design

Chapter 18

1. Select controlled and manipulated variables. 2. Select pairing of controlled and manipulated variables. 3. Specify types of FB controllers. Example: 2 x 2 system

Two possible controller pairings: (1-1/2-2 pairing) U1 with Y1, U2 with Y2 or U1 with Y2, U2 with Y1 (1-2/2-1 pairing) Note: For n x n system, n! possible pairing configurations. 7

Transfer Function Model (2 x 2 system)

Two controlled variables and two manipulated variables (4 transfer functions required)

Chapter 18

Y1( s ) Y1( s ) = GP11( s ), = GP12 ( s ) U1 ( s ) U2( s ) Y2 ( s ) Y2 ( s ) = GP 21( s ), = GP 22 ( s ) U1 ( s ) U2( s )

(18 1)

Thus, the input-output relations for the process can be written as:

Y1( s ) = GP11( s )U1( s ) + GP12 ( s )U 2 ( s ) Y2 ( s ) = GP 21( s )U1( s ) + GP 22 ( s )U 2 ( s )

(18 2 ) (18 3)
8

Or in vector-matrix notation as,

Y ( s ) = G p ( s )U ( s )

(18 4)
(18 5)

Chapter 18

where Y(s) and U(s) are vectors,

Y1 ( s ) U1 ( s ) Y(s )= U( s ) = Y s U s ( ) ( ) 2 2
GP11( s ) GP12 ( s ) G p( s ) = G ( s ) G ( s ) P 22 P 21

And Gp(s) is the transfer function matrix for the process

(18 6)
9

Chapter 18

10

Control-loop Interactions

Process interactions may induce undesirable interactions between two or more control loops. Example: 2 x 2 system Control loop interactions are due to the presence of a third feedback loop.

Chapter 18

Problems arising from control loop interactions i. Closed-loop system may become destabilized. ii. Controller tuning becomes more difficult.

11

Chapter 18

12

Chapter 18

13

Block Diagram Analysis

For the multiloop control configuration, the transfer function between a controlled and a manipulated variable depends on whether the other feedback control loops are open or closed. Example: 2 x 2 system, 1-1/2 -2 pairing From block diagram algebra we can show

Chapter 18

GP12GP 21GC 2 Y1( s ) = GP11 (second loop closed) U1( s ) 1 + GC 2GP 22

Note that the last expression contains GC2.

Y1( s ) = GP11( s ), U1( s )

(second loop open)

(18-7)

(18-11)

14

Chapter 18

15

Chapter 18

16

Chapter 18

17

Chapter 18

18

Relative Gain Array

Provides two types of useful information: 1. Measure of process interactions 2. Recommendation about best pairing of controlled and manipulated variables.

Chapter 18

Requires knowledge of steady-state gains but not process dynamics.

19

Example of RGA Analysis: 2 x 2 system Steady-state process model,

Chapter 18

y1 = K11u1 + K12u2 y2 = K 21u1 + K 22u2

The RGA, , is defined as:
11 12 = 21 22

where the relative gain, ij, relates the ith controlled variable and the jth manipulated variable

( yi / u j )u open-loop gain ij = ( yi / u j ) y closed-loop gain

(18 24 )
20

Scaling Properties:
i. ij is dimensionless ii.

Chapter 18

=
ij i j

ij

= 1.0

For a 2 x 2 system, 1 , 11 = 12 = 1 11 = 21 K12 K 21 1 K11K 22

(18-34)

Recommended Controller Pairing

It corresponds to the ij which have the largest positive values that are closest to one.
21

In general: 1. Pairings which correspond to negative pairings should not be selected. 2. Otherwise, choose the pairing which has ij closest to one.

Chapter 18

Examples: Process Gain Matrix, K :

K11 0
0 K 21 K11 0
K11 K 21

Relative Gain Array, :

0 K 22
K12 0 K12 K 22
0 K 22

1 0 0 1 0 1 1 0

1 0 0 1 1 0 0 1

22

For 2 x 2 systems:

y1 = K11u1 + K12u2 y2 = K 21u1 + K 22u2

Example 1:
K11 K = K 21 K12 2 1.5 = K 22 . 1 5 2

11 =

1 , K12 K 21 K11K 22

12 = 1 11 = 21

Chapter 18

Recommended pairing is Y1 and U1, Y2 and U2.

2.29 1.29 = . . 1 29 2 29

Example 2:

2 1.5 K = 1.5 2

0.64 0.36 = 0 . 36 0 . 64

Recommended pairing is Y1 with U1 and Y2 with U2.

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EXAMPLE: Thermal Mixing System

Chapter 18

The RGA can be expressed in two equivalent forms:

Wh T Tc W Th Tc K= Th T T Th Tc

Wc Th T Th Tc T Tc Th Tc

and

Wh Wc W Wc + Wh = Wh T Wc + Wh

Wc Wh Wc + Wh Wc Wc + Wh

Note that each relative gain is between 0 and 1. The recommended controller pairing depends on nominal values of T, Th, and Tc. 24

RGA for Higher-Order Systems

For and n x n system,

Chapter 18

u1 u2 y1 11 12 21 22 y2 = yn n1 n1

un

1n 2 n
nn

(18 25)

Each ij can be calculated from the relation,

ij = Kij H ij

(18 37 )

where Kij is the (i,j) -element of the steady-state gain K matrix,

y = Ku
Hij is the (i,j) -element of the H = K Note :

( ).

-1 T

KH

Example: Hydrocracker The RGA for a hydrocracker has been reported as,

Chapter 18

u1 u2 u3 u4 y1 0.931 0.150 0.080 0.164 y2 0.011 0.429 0.286 1.154 y3 0.135 3.314 0.270 1.910 y4 0.215 2.030 0.900 1.919

Recommended controller pairing?

26

Singular Value Analysis

Any real m x n matrix can be factored as, T K=WV Matrix is a diagonal matrix of singular values: = diag (1, 2, , r) The singular values are the positive square roots of the T T eigenvalues of K K ( r = the rank of K K). The columns of matrices W and V are orthonormal. Thus, T T WW = I and VV = I Can calculate , W, and V using MATLAB command, svd. Condition number (CN) is defined to be the ratio of the largest to the smallest singular value,

Chapter 18

CN

1 r

A large value of CN indicates that K is ill-conditioned.

27

Condition Number
Chapter 18
CN is a measure of sensitivity of the matrix properties to changes in individual elements. Consider the RGA for a 2x2 process,
1 0 K = 10 1 = I

If K12 changes from 0 to 0.1, then K becomes a singular matrix, which corresponds to a process that is difficult to control. RGA and SVA used together can indicate whether a process is easy (or difficult) to control.
10.1 0 (K ) = 0 0.1 CN = 101

K is poorly conditioned when CN is a large number (e.g., > 10). Thus small changes in the model for this process can make it very difficult to control.

28

Selection of Inputs and Outputs

Chapter 18

Arrange the singular values in order of largest to smallest and look for any i/i-1 > 10; then one or more inputs (or outputs) can be deleted. Delete one row and one column of K at a time and evaluate the properties of the reduced gain matrix. Example:
0 .4 8 K = 0 .5 2 0 .9 0 0 .9 0 0 .9 5 0 .9 5 0 .0 0 6 0 .0 0 8 0 .0 2 0
29

 0.5714 0.3766 0.7292 W = 0.6035 0.4093 0.6843 0.5561 0.8311 0.0066

Chapter Chapter18 18

0 0 1.618 0 1.143 0 = 0 0.0097 0

0.0151 0.0541 0.9984 V = 0.9985 0.0540 0.0068 0.0060 0.0154 0.9999

CN = 166.5 (1/3) The RGA is:

2.4376 3.0241 0.4135 = 1.2211 0.7617 0.5407 2.2165 1.2623 0.0458

Preliminary pairing: y1-u2, y2-u3, y3-u1. CN suggests only two output variables can be controlled. Eliminate one input and one output (3x32x2). 30

Chapter 18

Question: How sensitive are these results to the scaling of inputs and outputs?

31

Alternative Strategies for Dealing with Undesirable Control Loop Interactions

1. "Detune" one or more FB controllers. 2. Select different manipulated or controlled variables. e.g., nonlinear functions of original variables 3. Use a decoupling control scheme. 4. Use some other type of multivariable control scheme. Decoupling Control Systems Basic Idea: Use additional controllers to compensate for process interactions and thus reduce control loop interactions Ideally, decoupling control allows setpoint changes to affect only the desired controlled variables. Typically, decoupling controllers are designed using a simple process model (e.g., a steady-state model or transfer function model) 32

Chapter 18

Chapter 18

33

Decoupler Design Equations

We want cross-controller, T12, to cancel the effect of U2 on Y1. Thus, we would like,

T12 GP11U 22 + GP12U 22 = 0

(18 79 )
(18 80 )
(18 76 ) (18 78)

Chapter 18

Because U22 0 in general, then

GP12 T12 = GP11

T21GP 22U11 + GP 21U11 = 0 GP 21 T21 = GP 22

Similarly, we want T12 to cancel the effect of U1 on Y2. Thus, we require that,

Compare with the design equations for feedforward control based on block diagram analysis 34

Variations on a Theme
1. Partial Decoupling:
Use only one cross-controller.

Chapter 18

2. Static Decoupling:
Design to eliminate SS interactions Ideal decouplers are merely gains:

K P12 T12 = K P11 K P 21 T21 = K P 22

3. Nonlinear Decoupling

(18 85) (18 86 )

Appropriate for nonlinear processes.

35

Wood-Berry Distillation Column Model (methanol-water separation)

Chapter 18

CT

Feed F Reflux R Distillate D, composition (wt. %) XD Steam S

CT

Bottoms B, composition (wt. %) XB

36 36

Wood-Berry Distillation Column Model

12.8e s 16.7 s + 1 y1 ( s ) y ( s) = 2 7 s 6.6e 10.9 s + 1 where: y1 = xD = distillate composition, %MeOH y2 = xB = bottoms composition, %MeOH u1 = R = reflux flow rate, lb/min u1 = S = reflux flow rate, lb/min 18.9e 3s 21s + 1 19.4e 3s 14.4 s + 1

Chapter 18

u1 ( s ) u ( s ) 2

(18 12)

37 37

Chapter 18