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4690 Ind. Eng. Chem. Res., Vol. 37, No. 12, 1998
Ind. Eng. Chem. Res., Vol. 37, No. 12, 1998 4691
Table 1. Model and Systems Characteristics
vapor boilup, mol/h
tray holdup (steady state), mol
reflux drum holdup, mol
total feed charge, mol
nominal feed composition (mole fraction)
estimated feed composition (mole fraction)
tray hydraulic time constant, h
number of ideal trays
relative volatility
nominal composition setpoint
binary system
ternary system
5400
30
250
8000
0.4/0.6
0.3/0.7
0.001
8
(nonideal)
0.84
6000
30
300
30000
0.2/0.6/0.2
0.3333/0.3333/0.3334
0.001
10
4/2/1
0.95/0.95
component 2
B1
12.0178
A2
-4000.44
component 3
B2
11.3247
A3
-4000.44
B3
10.6316
Lm ) Lm,0 +
Hm - H0
(1)
Aj
ln Pj ) - Bj
T
(2)
Aj
Tm )
ln
RjPtot
3
(3)
-Bj
Rkxm,k
k)1
4692 Ind. Eng. Chem. Res., Vol. 37, No. 12, 1998
x3 ) f(x,u)
(4)
z ) h(x)
(5)
(6)
z ) h(x )
(7)
e3 ) (A - KC)e
(8)
ai,j ) fi/x j
(9)
ci,j ) hi/x j
(10)
(11)
Ind. Eng. Chem. Res., Vol. 37, No. 12, 1998 4693
Table 3. Parameters for Use of Equations 11-13
eq 11
eq 12
0.63537
9.76
5.198
0.0769
0.3561
0.0
eq 13
0.11098
1.24
0.5264
0.4484
0.9804
0.51475
T0
q1
q2
w1
w2
x0
76.978
12.02
10.82
0.03537
0.3844
0.0
4.44107
-0.11859
-0.04667
0.08313
-
x3 ) (x) + (x)u
(14)
) (x)
(15)
(x)
i(x)
L(x) )
i)1 xi
n
(16)
where n is the dimension of the state vector x. Moreover, the symbol Lk(x) indicates the k-time repeated
iteration of L(x); that is Lk(x) ) L(Lk-1
(x)), with
L0(x) ) (x). Similarly, LL(x) is the Lie derivative
of (x) made first in the direction of (x), and then in
the direction of the smooth vector field (x). The
relative order r of a process model like that in eqs 14
and 15 is defined as the least integer for which the
following condition holds true:
LLr-1
(x)
*0
(17)
[]
xD
xN
l
x ) x , (x) )
m
l
xB
[ ][ ]
V
(y - xD)
HD N
V
(y
- yN)
Hm N-1
l
V
(y
- ym) , (x) )
Hm m-1
l
V
(x - yB)
HB B
-VyB
and (x) ) xD
Z(s)
1
)
Zsp(s) (s + 1)2
u)
kLk-1(x)
k)1
LLr-1(x)
(18)
(19-22)
r+1
1 -
0
1
(x - xN)
Hm D
l
1
(x
- xm) ,
Hm m+1
l
1
(x - xB)
HB 1
x1
(23)
2V(y N - x D)
y N
V V
V
(y
- y N)
(y - x D)
HD
HD Hm N-1
x N HD N
V(x D - x N) y N
HDHm x N
(24)
4694 Ind. Eng. Chem. Res., Vol. 37, No. 12, 1998
Ind. Eng. Chem. Res., Vol. 37, No. 12, 1998 4695
vu)
kLk(x)
k)0
(25)
rLLr-1
(x)
v ) KC,GLC (sp - ) +
0t(sp - ) d
1
I,GLC
(26)
y N
V
V
V V
v - 0x D - 1 (y N - x D) - 2
(y
- y N)
(y - x D)
HD
HD Hm N-1
x N HD N
y N
V
2
(x - x N)
HDHm D
x N
(27)
and the CLTF for setpoint changes results:
Z(s)
)
Zsp(s)
KC,GLC
KC,GLCs +
I,GLC
KC,GLC
2s + 1s + (0 + KC,GLC)s +
I,GLC
3
2 ) KC,GLC2
I,GLC )
0
2KC,GLC
2KC,GLC
0
y N
1
V
(xD,sp - y N) (y N-1 - y N)
Hm
x N
R)
y N
1
(x - x N)
Hm D
x N
(32)
(28)
1 ) KC,GLC 2 +
Figure 5. Binary mixture: control of the overhead vapor composition under NIMC ( ) 0.04 h).
Z(s)
1
)
Zsp(s) s + 1
(33)
(29)
8. Ternary System: Nonlinear Control
(30)
(31)
Note that both 0 and KC,GLC can be specified arbitrarily; they were set to 0 ) KC,GLC ) 1 mol/h in this
case. Therefore, for ) 0.04 h, the following settings
result: 1 ) 0.1 mol, 2 ) 0.0016 mol h, and I,GLC )
0.08 h. With this tuning, a response perfectly equivalent to the one represented in Figure 2 was indeed
obtained.
7.2. Modification to the Proposed Approach.
Much of the complexity arising in the off-line derivation
4696 Ind. Eng. Chem. Res., Vol. 37, No. 12, 1998
Ind. Eng. Chem. Res., Vol. 37, No. 12, 1998 4697
Acknowledgment
Acronyms
Nomenclature
a ) element of the matrix A
A ) coefficient for the Antoine equation
A ) Jacobian matrix of the function f
B ) coefficient for the Antoine equation
c ) element of the matrix C
C ) Jacobian matrix of the function h
e ) vector of the estimation errors
f ) element of the function f
f ) nonlinear vector function
h ) element of the function h
h ) nonlinear vector function
H ) holdup (mol)
K ) gain matrix of the Luenberger observer
KC ) proportional gain of the temperature controller (mol/
h/C)
L ) reflux rate (mol/h)
Nc ) number of components
p ) parameter for use of eq 11
P ) vapor pressure (mmHg)
q ) parameter for use of eqs 12 and 13
r ) system relative order
R ) reflux rate (mol/h)
s ) Laplace operator
T ) temperature (K or C)
t ) time (h)
u ) manipulated input
u ) vector of inputs
v ) parameter for use of eq 11; also external PI controller
V ) vapor rate (mol/h)
w ) parameter for use of eqs 12 and 13
x ) mole fraction in the liquid phase
x ) vector of states
y ) mole fraction in the vapor phase
z ) vector of output measurements
Z ) Laplace-transformed controlled variable
Subscripts
B ) reboiler
D ) distillate
j ) generic component
m ) generic tray
N ) total number of trays; also top tray
sp ) setpoint
tot ) total
Superscripts
) estimated property
) time derivative
Greek Letters
R ) relative volatility
) GLC tuning parameter
) smooth vector field
) error as defined by the NIMC control law (18)
) closed-loop time constant (h)
) smooth vector field
) smooth scalar field
) NIMC tuning parameter
) tray hydraulic time constant (h)
I ) integral time constant (h)
) controlled output
dHB
) L1 - V
dt
d(HBxB)
) Lx1,j - VyB,j
dt
j ) 1 or j ) 1,2
(A.1.1)
(A.1.2)
dH1
) L2 - L1
dt
(A.1.3)
d(Hx1,j)
) L2x2,j + VyB,j - L1x1,j - Vy1,j
dt
j ) 1 or j ) 1,2 (A.1.4)
Intermediate Trays (Subscript m).
dHm
) Lm+1 - Lm
dt
(A.1.5)
d(Hmxm,j)
) Lm+1xm+1,j + Vym-1,j - Lmxm,j - Vym,j
dt
j ) 1 or j ) 1,2 (A.1.6)
Top Tray (Subscript N).
dHN
) R - LN
dt
(A.1.7)
d(HNxN,j)
) RxD,j + VyN-1,j - LNxN,j - VyN,j
dt
j ) 1 or j ) 1,2 (A.1.8)
Reflux Drum (Subscript D).
dxD
HD
) V(yN,j - xD,j)
dt
j ) 1 or j ) 1,2
(A.1.9)
xD
) [1 0 0 ... 0 ... 0]
x
(A3.1)
4698 Ind. Eng. Chem. Res., Vol. 37, No. 12, 1998
we have
L(x) ) LxD )
xD
i x i(x) ) 0
(A3.2)
L(x) ) LxD )
xD
i x i(x) ) H
i
(yN - xD) * 0
(A3.3)
and
L[L(x)] ) L
V
HD
(yN - xD) )
HD
(yN - xD)
V yN
i(x) )
(xD - xN) * 0
xi
HDHm xN
(A3.4)
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