EI6801 – COMPUTER CONTROL OF PROCESS

PART-A
Answer all Questions (5x2=10)
1. State the advantages of Smith Predictor controller.
i) With dead time compensator the current information is sent back to the controller
ii) The loop stability is greatly improved
iii) Much tight control is achieved
iv) If the model is exact it moves the dead time out of the feedback loop

2. What are the implications when the RGA element ij  0 and ij  1 ?
If ij  0 ,the open loop gain between mj and yi is zero. mj has no direct influence on yi. In this
case, the pairing of mj with yi is not recommended.
If ij  1 , the open loop gain is the equal to the closed loop gain. In this case, the pairing of mj
with yi would be ideal.

3. Differentiate multi loop control and multivariable controller.

Multi loop control: Each manipulated variable depends on only a single controlled variable,
i.e., a set of conventional feedback controllers is used.
Multivariable Control: Each manipulated variable can depend on two or more of the controlled
variables.
4. List the properties of RGA
Summation of all elements in any row or in any column is equal to unity.
RGA is independent of input and output scaling
RGA is the identity matrix if K is upper or lower triangular.

5. List different types of tuning multi loop PID control system.

Biggest Log Modulus Tuning
Sequential Loop Tuning
Independent Loop Tuning

PART-B
1. Explain how to obtain RGA matrix and how it helps in pairing inputs and outputs.

The RGA is a widely used method for determining the hest input – output pairings for multi
variable system. All industrial process are among the variables. The problems arising from
control loop interaction are,
 Closed loop system may become destablished
 Controller turning becomes more difficult.

Consider a process with two input and two outputs and the input output relationship is
given by,

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y1  G11u1  G12u2
y2  G21u1  G22u2
A change in either of the inputs will lead to change in the values of both the outputs. This
phenomenon persists even when two control loops are formed as in figure. This is termed as
control loop interaction. There are two types of effects of an input on an output, Viz direct
and indirect.

Loop 1 is referred to u1  y1 pairing and loop 2 in referred to u2  y2 pairing. RGA provides a

quantitative measure for selection of control loops that would lead to minimum interaction
among the loops. The relative gain between ith output jth input is defined as
gain between input j and output i with all other loops open
λij =
gain between input j and i with all other loops closed

yi
u j
uk with k  j
ij 
yi
u j
yk with k  i

Calculation of RGA for a 2×2 system:

Let us assume pairing u1  y1, the steady state mode is,
y1  k11u1  k12u2
y2  k21u1  k22 u2

Δy1
Now, k11 = = Open loop gain
Δu1 u2

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Now consider the situation where u2  y2 loop is closed and perfectly controlled

Δy2 = k21 Δu1 + k22 Δu2 = 0

k 
 Δu2 = -  21  Δu1
 k22 
Now, Δy1 = k11 Δu1 + k12 Δu2
 k k 
Δy1 =  k11 - 12 21  Δu1
 k22 
Δy1 k11k22 - k12 k21
= = closed loop gain
Δu1 y2
k22
gain between u1 and y1 with u2 constant
λ11 =
gain between u1 and y1 with y2 constant
open loop gain k11k22
λ11 = =
closed loop gain k11k 22 - k12 k 21
λ λ 
For a 2× 2 system, Λ =  11 12 
 λ21 λ22 
Δy1 /Δm2 m
λ12 = 1
relative gain between y1 and m2
Δy1 /Δm2 y
2

Δy2 /Δm1 m
λ21 = 2
relative gain between y2 and m1
Δy2 /Δm1 y1

Δy2 /Δm2 m1
λ22 = relative gain between y2 and m2
Δy2 /Δm2 y1

The values of these gain also used as measures of interaction

11 12 
The RGA matrix is,    
21 22 
The sum of the relative gains is any row or column of RGA is equal to 1. Thus

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11  12  1 11  21  1
21  22  1 12  22  1
^ ^
In general, ij  g ij (0) g ji (0)  kij k ji  K  ( K 1 )T
  represent element by element multiplication of two matrices
k k 
Here K =  11 12 
 k21 k22 
k -k 
 K -1  = -k22 k 21  × | K1 |
T

 12 11 
1  k11 k12 k22 - k21   λ11 λ12 
Λ=  =  
| K |  k21 k22 - k12 k11   λ21 λ22 

The relative gain, ij, relates the ith controlled variable and the jth manipulated variable. The
recommended controller Pairing corresponds to the ij which has the largest positive value.

k p    S  1
2.Consider a process transfer function G p ( s)  Use all pass factorization and show
S ( p S  1)
.
that IMC based PID controller is PD controller with a first order lag.
Solution:
The process is factorized into invertible and non-invertible elements.
~ ~ ~   s  1 k p   S  1
G p ( S )  G p  ( s) G p  ( s)  
  s  1 S ( p S  1)
The ideal internal model controller is the inverse of the invertible portion of the process
model. A filter term is added to make the controller proper.
~ 1
S ( p S  1) 1
GI ( s)  G p  (s) f (s)  
k p   S  1   S  1
The model is considered to be same as process transfer function.
k p    S  1
Gm ( S ) 
S ( p S  1)
The conventional controller is,
GI ( s)
GC ( s) 
1  GI ( s)Gm ( s)
S ( p S  1) 1

k p   S  1   S  1 ( p S  1)
GC ( s)  
 S ( p S  1) 1   k p    S  1  k p    S  1
1    
 k p   S  1   S  1   S ( p S  1) 
This result is in the form of PD controller with first order lag:

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 1
Gc (S) kc 1 d S
FS 1
Comparing the IMC based PD tuning the controller parameters are,

1
kc i p & F
kp

3. Describe the design procedure of Smith Predictor controller with neat diagram.

A process with large transport lag or dead time is difficult to control because a
disturbance in set point or load does not reach the output of the process until t units of
d
time have elapsed. The Smith predictor technique provides effective time delay
compensation. If a step change in R is made, up to time td no control action occurs, with the
result that the overall closed loop response will be sluggish and generally unsatisfactory. To
overcome this difficulty, Smith suggested that G( S ) be modeled according to
G(S )  Gp (S )et S and that additional feedback paths are inserted into
d

1
Fig. 1 and shown in Fig.2. Here G p ( S ) 
 pS 1

Fig.1

Fig.2
In Smith predictor control structure, the process model G( S ) is divided into two parts: the
part without a time delay [ G p ( S ) ] and the time delay term e  td S . The model of the process
without time delay, G p ( S ) is used to predict the effect of control action on the un delayed
output. The controller then uses the predicted response C1 to calculate its output signal. The

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predicted process output is also delayed by the amount of time delay t , for comparison
d
with the actual un delayed output C.
If G( S ) is modeled exactly as G(S )  Gp (S )et S in Fig. 2, it is clear that the signals entering the
d

error detector will be identical; as a result, the signals cancel and cause the output of error
detector to be zero. The net effect is that the outer feedback path is completely eliminated
and this simplification is shown in Fig. 3.

Fig.3

 td S
Suppose the plant consists of G p ( S ) followed by a pure time delay e .

As a first step, only G p ( S ) is considered(the plant without a delay) and a controller Gc ( S ) is

Gc ( S )G p ( S )
designed with a closed-loop transfer function H ( S )  . Now the objective is to
1  Gc ( S )G p ( S )
 td S
design a controller Gc ( S ) for the plant G( S )  Gp ( S )e so that the closed loop transfer
function H ( S ) equal to H ( S )etd S .

H ( S )  H ( S )e  td S
Gc G Gc G p
 e  td S
1  Gc G 1  Gc G p

Gc
Solving we get, Gc 

1  GcG p 1  etd S 
The dead time compensator is implemented as per the following figure.

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4. Select the control loops with minimum steady state interaction for the following system with
two outputs and three inputs

 3  0.5  1 
y1 ( s)  m1 ( s)  m2 (s)  2 m3 (s)
2s  1 ( s  1)( s  3) s  3s  2

  2  4 
y2 ( s)  10 m1 ( s)  m2 ( s)  m3 ( s)
s 1 ( s  1)(3s  1)