Level Control of Quadruple tank process using

Discrete time Model Predictive Control

T.Deepa (Research Scholar) P.Lakshmi(Associate professor) S.Vidya(PG Student)

Department of EEE Department of EEE Department of EEE
Anna University Anna University Anna University
Chennai, India Chennai, India Chennai, India
deepabalaji30@gmail.com p_lakshmi@annauniv.edu swaminathan_vidya@yahoo.com

Abstract— A Multivariable process for a four tank system with [7] discussed, autotuning of multivariable PID controllers. It
dead time and without dead time process is demonstrated in should be noted that modern control techniques might
this paper. The model can capture the essential dynamics of a achieve better performance than the conventional PID
unit. Design of a Discrete time Model Predictive Contorl is controller Ref [8] proposed PID controller design for a TITO
discussed based on this model. The control vector is optimized system.
in the design of predictive control using MATLAB. These In Section II a Physical model for a four tank process is
results are compared with de-centralized PI controller. The derived. In Section III controller design for this model is
simulation results shows that the method is easy to apply and discussed, and a control structure is found. Section IV to
can achieve acceptable performance.
illustrate the DMPC and conclusions are given in Section V.
Keywords: Four Tank process, Decentralized PI, DMPC.
II. PHYSICAL MODEL
I. INTRODUCTION A schematic diagram of the process is shown in Fig. 1.
The target is to control the level in the lower two tanks with
Model predictive control (MPC) is one of the most two pumps. The process inputs are input voltages to the
successful technique of advanced control in the process pumps and the outputs are voltages from level measurement
industry. This is due to its control problem formulation, the devices. Mass balances and Bernoulli’s law yield the
usage of the model to predict the expected evolution of the following simple nonlinear equations [2]
plant, the optimal character of the solution and the explicit
dh a a γ k
consideration of hard constraints in the optimization problem. 1 1 3 1 1
dt = − A 2 gh + A 2 gh + A v
MPC has become a control technique capable to provide 1 1 1 3 1 1
controllers ensuring stability, robustness, constraint dh a a γ k
2 2 4 2 2
satisfaction and tractable computation for linear and for dt = − A 2 gh
2
+ A 2 gh
4
+ A v
2
2 2 2
nonlinear systems [1].
The multivariable laboratory process, called the §1−γ ·k
dh a ¨ ¸
3 =− 3 2 gh + © 2 ¹ 2v
Quadruple-Tank Process (QTP), consists of four dt A 3 A 2
3 3
interconnected liquid tanks, two pumps and two valves, [2],
and is shown schematically in Fig. 1. The inputs are the dh
4
a
4 (1−γ 1 )k1
voltages to the two pumps (v1, v2) and the outputs are the dt = − A 2 gh
4
+ A v ........................(1)
1
4 4
liquid levels in the lower tanks (h1, h2). The linearized where
dynamics of the process exhibits a multivariable zero that can Ai Cross-section of Tank i
be moved from one side of the complex plane to the other ai Cross-section of the outlet hole
one by changing the valves positions Ȗ1and Ȗ2. This process hi Water level.
was found to be ideally suited to illustrate many concepts in The voltage applied to pump i is vi and the corresponding
multivariable control. flow is kivi. The parameters Ȗ1, Ȗ2 İ (0,1) are determined
Ref [3] presented a simple and easily implemented from how the valves are set prior to an experiment. The flow
procedure for controller tuning for QTP. The multivariable to Tank 1 is Ȗ1k1v1 and the flow to Tank 4 is (1-Ȗ1)k1v1 and
zero dynamics of the system can be made both minimum similarly for Tank 2 and Tank 3. The acceleration of gravity
phase and nonminimum phase by simply changing a valve. is denoted g. The measured level signals are kch1and kch2.
This makes the QTP suitable for illustrating many concepts The parameters of QTP are given in Table 1 [9].
in linear and nonlinear multivariable control [4].
Ref [5] developed to design multivariable decoupling and TABLE 1
multiloop PI/PID controllers in a sequential manner. The PARAMETER VALUES OF Fig.1
method is based on a single-loop tuning technique developed i Ai(cm2) ai(cm2) hi0
for multivariable systems with unknown dynamics. Ref [6] 1 28 0.071 12.4
proposed PID tuning based on loop shaping H’ control. Ref 2 32 0.058 12.7

___________________________________
978-1-4244 -8679-3/11/$26.00 ©2011 IEEE

162
 3 28 0.071 1.8 shown in fig 2. Mass balances and Bernoulli’s law yield the
4 32 0.058 1.4 following nonlinear equations [9]
The parameter values of the laboratory QTP process with
Tank 3 Tank 4 dead time are given in Table 2
TABLE 2
PARAMETER VALUES OF Fig.2
i Ai(cm2) ai(cm2) Ki1(cm3/s.v) Ki2(cm3/s) Įi(s)
Valve 1 Valve 2
1 12 0.26 3.808 2.712 5
Ȗ1 2 20 0.26 3.831 2.006 6
Ȗ2
3 12 0.21 3.904 3.069 7

Tank 1 Tank 2 4 20 0.21 3.752 3.499 9

Pump 1 h1 h2 Pump 2
The linearized state space equations around the
equilibrium are
v1 v2
dx ( t ) 4
¦
dt = A. x ( t ) + i=1 Bi . u ( t −αi )

y ( t ) = C . x ( t ) ! ..............................(6)

where
Fig. 1. Schematic diagram of the quadruple-tank process.
ª º
The linearized state-space equation is given by «− 1 A3 »
0 0
ª º ª º « T A1T 3 »
« 1 »
«− 1 A3
0 » « γ1k1 0 »
« T
0
» « A » « 1 A4 »
A1T3 1 « 0 − 0 »
« 1 » « » T2 A2T4 »
« 1 A4 » « γ 2k2 » A = «
« 0 − 0 » « 0 » « 1 »
dx T2 A2T4 » « A2 » « 0 0 − 0 »
«
dt = « 1 » x + « »
(1−γ 2 )k2 »
u « T3 »
« 0 0 − 0 » « 0 « »
« T3 » « A2 » « 0 1 »
« » 0 0 −
« » «¬ T 4 »¼
« 0 0 0
1
− » « (1−γ1 )k1 »
« A 0 »
¬« T4 ¼» ¬ 4 ¼ ª º ª º
« γ 1 k1 » «0 0 »
ªk 0 0 0º « 0» « »
y=« c γ k
» x ...........................................................................( 2 ) « A1 » «0 2 2 »
¬0 kc 0 0¼
= « » = « A »
B
1 « 0 0» ; B 2 « 2 »
where the time constants are « 0 0» «0 0 »
« » « »
Ai 2 h i0 ¬« 0 0 ¼» ¬« 0 0 ¼»
T = ai , i = 1 , ...4 .................................( 3 )
i g ª º ª º
«0 »0 « 0 0»
The corresponding transfer function matrix is «0 »0 « 0 0»
« » « »
ª º « ( 1− γ ) k » ; B « 0»
« γ 1 c1 (1 − γ 2 )c1 » B
3
=
«0 2 3 » 4
=
«
0
»
« (1 + s T 3 )(1 + s T1 ) »»
«
1 + s T1 « A
3 » « ( 1− γ 1 ) k 4 »
G (s) = ..........( 4 ) « » « 0»
« (1 − γ 1 )c 2 γ 2 c2 » A4
« » ¬« 0 0 ¼» ¬ ¼
¬« (1 + s T 4 )(1 + s T 2 ) 1+ s T2 ¼»
and the Ti (i=1,…, 4)in A are
where c1=T1k1kc/A1 and c2=T2k2kc/A2.
The multivariable process containing dead times or delay Ai 2 hi0
T = ai , i = 1, ...4
between each input and output of the quadruple tank process i g
The transfer function matrix is given by
dh1 1
(
dt = A1 − a1 2 gh1 +a3 2 gh3 +( γ1k1v1( t −α1)−k12 ) )
ª −sα º
dh2 1
= (
− a2 2 gh2 +a4 2 gh4 +(γ 2k2v2( t −α2 )−k22 ) ) « (γ11Tk1/ A1)e−sα1 ((1−γ2)Tk
1 3/ A1)e 3 »
dt A2
« 1+sT1 (1+sT3)(1+sT1) »
G( s)=« »........(7)
« 1−γ T k / A e−sα4 »
(γ2T2k1/ A2)e−sα2
dh3 1
=
dt A3
(
− a3 2 gh3 +( (1−γ 2 )k3v2( t −α3 )−k32 ) ) «( ( 1) 2 4 2) »
« (1+sT4)(1+sT2) 1+sT2 »
¬ ¼
dh4 1
(
dt = A4 − a4 2 gh4 +( (1−γ1)k4v1( t −α4 )−k42 ) ..........(5) )

163
 Tank 3 Tank 4

Pump 1

Pump 2
Pump 4

Pump 3
m2 m3
m4 m1

Tank 1 Tank 2
h1 h2

1-Ȗ2
1-Ȗ1

Ȗ2
Ȗ1

Delay

Delay
Delay

Delay

v1 v2

Fig. 2. Schematic diagram of the quadruple-tank process with dead time

transforms of the discrete-time Laguerre networks [10] are
III. DISCRETE TIME MODEL PREDICTIVE CONTROL written as
The core technique in the design of Discrete time MPC 1 -a 2
ī (z ) = 1 -a z -1
[10] is based on optimizing the future control trajectory, that 1

is the difference of the control signal, ǻu(k). By assuming a 1 -a 2 z -1 -a

ī 2 ( z )=
finite control horizon Nc, the difference of the control signal 1 -a z -1 1 -a z -1
ǻu(k) for k = 0, 1, 2, . . . , Ncí1 is captured by the control
vector ǻU while the rest of the ǻu(k) for k = Nc, Nc +1, . . . , .

Np is assumed to be zero. There were cases where the N -1

1 -a 2 § -1 ·
neglected trajectory ǻu(k) is not zero, however, it is small in ī
N
(z ) = 1 -a z -1
¨ z
¨
-a ¸
¸ ..............................( 8 )
its magnitude. © 1 -a z -1 ¹

The control vector that is optimized in the design of
predictive control is ǂU, defined by
U = [ǂu(ki) ǂu(ki +1) . . . ǂu(ki + Nc í 1) ]T, where
the dimension of the control vector is Nc, called the control
horizon. At time ki, any element within ǂU can be
represented using the discrete į-function in conjunction with
ΔU
Δu(ki + i) = [į(i) į(i í 1) . . . į(i í Nc +1)] ΔU,
where į(i) = 1, if i = 0; and į(i) = 0 if i  0. The į function
acts like a pulse (and is also called the pulse operator), and
the function į(i í d) shifts the centre of the pulse forward as
the index d increases. From this expression, it is clear that
pulse operators are used in capturing the control trajectory if
ǂU as the coefficient vector. It is understood that ǂu(ki + i),
i = 0, 1, . . . ,Nc í 1 can be approximated by a discrete
polynomial function. There are many approaches to using
discrete polynomial functions. In this paper a set of discrete
Laguerre function is used to approximate the sequence
ǂu(ki), ǂu(ki +1)…….ǂu(ki +Nc í1).
where ‘a’ is the pole of the discrete-time Laguerre network,
and 0 ” a ” 1 for stability of the network. The free parameter,
a, is required to be selected by the user and this is called the
scaling factor. The Laguerre networks are well known for
their orthonormality.
The discrete time Laguerre functions are obtained through
the inverse z-transform of the Laguerre networks and shown
in Fig 3. However, taking the inverse z-transform of the
Laguerre networks does not lead to a compact expression of
the Laguerre functions in the time-domain. A more
straightforward way to find these discrete-time functions is
based on a state- space realization of the
networks.
Fig. 3. Discrete Lagurre network

z -1 -a 1-a 2
3.1 Discrete-time Laguerre Networks ()
ī k z =ī k-1 z ()
.....................(9) ī1 =
The discrete-time Laguerre network is generated from the 1-az-1
with 1-az-1
discretization of a continuous-time Laguerre network. The z-

164
 Letting l1(k) denote the inverse z-transform of ī1(z, a), phase [9].
l2(k) the inverse z-transform of ī2(z, a) and so on to lN(k) TABLE 4
the inverse z-transform of īN(z, a). This set of discrete-time EXAMPLE 1: SETPOINT CHANGES IN STEP INPUT OF VOLTAGE
Laguerre functions are expressed in a vector form as (V1)
L(k) = [l1(k) l2(k) . . . lN(k) ]T …………………….. (10) Liquid Type Setpoint Setpoint Setpoint
Taking advantage of the network realization (5) the set of Levels of (11.1 cm) (14.1 cm) (9.1 cm)
discrete-time Laguerre functions satisfies the following Contro Peak Settli Peak Settli Peak Settli
difference equation, llers Over ng Over ng Over ng
L(k+1) = AlL(k)…………………………………….(11) Shoot Time Shoot Time Shoot Time
(%) (Sec) (%) (Sec) (%) (Sec)
where matrix Al is ( N * N ) and is a function of
Tank1 Decen 68 220 41 695 -60.7 1340
parameters a and ȕ = (1ía2), and the initial condition is (H1) PI
given by equation DMPC 10 308 7 684 -11 1189
( )T =
L 0
2 3
( )
ȕ[1-aa -a .... -1
N-1 N-1
a . …………… (12) Tank2 Decen 46 265 28 740 -46.2 1385
(H2) PI
DMPC 28 202 17 700 -28.1 1204
IV. SIMULATION STUDIES
Two examples are given in this section to illustrate the
§ ·
proposed DMPC for four tank system. ¨ 1.585e−5s e−7 s ¸
¨ (1+7.685s) (1+4.778s)(1+7.685s) ¸
Example 1: Consider a four tank system with the following ()
G2 s = ¨ ¸
transfer function for minimum phase case [9] without dead ¨ 0.778e−9 s 1.362e−6 s ¸
¨¨ ¸¸
time is © (1+3.705s)(1+11.85s) 1+11.85s ¹
§ 2.6 1.5 · The Decentralized PI controller for example 2 is
¨ ¸
¨ (1+62s ) (1+23s )(1+62s ) ¸ § ·
G1 ()
s =¨ ¸ ¨ 0.48485+
0.0616
0 ¸
¨ 1.4
¨ (1+30s )(1+90s )
2.8
1+90s
¸
¸ Gc2 () ¨
s =¨
s ¸
0.06118 ¸
© ¹ ¨ 0 0.725036+ ¸
The Decentralized PI controller for example 1 is © s ¹
§ 0.1 · The tuning parameters of DMPC are a1= 0.983 and
¨ 3+ 0 ¸ a2 =0.965
G c1 () ¨
s =¨
s ¸
0.0675 ¸
¨ 0 2.7 + ¸ The Decentralized PI controller and DMPC for the input
© s ¹
and output responses of tank 1 and tank2 are shown below
The tuning parameters of DMPC a1= 0.9995 and
a2 =0.9995are obtained by trial and error method.
Peak over shoot and settling time of the controllers for the
unit step input (V1) is given in Table 5.
The Decentralized PI controller and DMPC for the input
and output responses of tank 1 and tank2 are given below. TABLE 5
EXAMPLE 2: STEP INPUT OF VOLTAGE (V1)
Peak over shoot and settling time of values of the Type of Level Output of Tank1 Level Output of Tank2
controllers for the unit step input (V1) is given in Table 3. Controller (H1) (H2)
Peak Settling Peak Settling
TABLE 3 Over Time Over Time
EXAMPLE 1: STEP INPUT OF VOLTAGE (V1) Shoot (%) (Sec) Shoot (%) (Sec)
Type of Level Output of Tank1 Level Output of Decentralized - 950 16 940
Controller (H1) Tank2 (H2) PI
Peak Over Settling Peak Settling DMPC 1 63 2 30
Shoot (%) Time Over Time
From the above responses the peak over shoot of
(Sec) Shoot (%) (Sec)
decentralized PI controller for level output of tank2 is 16%
DecenPI 4 125 7.7 185
whereas for DMPC is only 2%. Similarly the DMPC settles
DMPC 1.5 138 3.3 112
much faster for both the levels when compared to
From Table 3 the Peak over shoot value of DMPC is decentralized PI controller.
lower when compared to Decentralized PI. Settling time of the decentralized PI and DMPC
For various set point changes the peak over shoot and controllers of level output of tank 1 and tank 2 for various set
settling time of decentralized PI controller and DMPC values point changes is given in Table 6.
of the level output of tank 1 and 2 are tabulated.

Example 2: Consider a four tank system with dead time

having the following transfer function G2(s) for minimum

165
 TABLE 6 7.5
Decentralized PI (Solid,blue), DMPC (Dashed,Green)

EXAMPLE 2: SET POINT CHANGES IN STEP INPUT OF VOLTAGE

h1 (cm)
7
6.5

(V1) 6
0 500 1000 1500
6
Liquid Type of SETTLING TIME (Sec)

u1 (Volt)
4

Levels Controll Setpoint Setpoint Setpoint 2

0 500 1000 1500
er (11.1 cm) (14.1 cm) (9.1 cm) 6.4

h2 (cm)
6.2

Tank1 (H1) DMPC 67 551 1066 6

0 500 1000 1500
3.5
Tank2 (H2) DMPC 145 629 1144

u2 (Volt)
3

2.5
0 500 1000 1500
Time (Sec)

V. CONCLUSION Fig.4.Responses of the water levels (h1,h2) and control signals(u1,u2) to

A Decentralized PI and DMPC controllers are developed
to control the liquid level of the quadruple tank process. The
DMPC responses are compared with decentralized PI
step in the reference signal to Tank1and Tank 2
Decentralized PI (Blue, Solid), DMPC (Red, Dashed)
16

controller responses. From these responses it is observed that

14

h1 (cm)
12

the peak overshoot of decentralized PI controller is high for 10

when compared to DMPC controller and the settling time is

8

6
0 500 1000 1500
less for DMPC controller than decentralized PI controller.
From settling time and peak over shoot, the DMPC controller
16

14

is having better tracking performance when compared to

h2 (cm)
12

decentralized PI controllers. 10

6
0 500 1000 1500
Time (Sec)

REFERENCES
[1] E. F. Camacho and C. Bordons, Model Predictive Control, 2nd ed.
Fig.5.Servo Responses of the water levels (h1,h2) and control signals(u1,u2)
Springer-Verlag, 2004.
to step in the reference signal to Tank1and Tank 2
[2] D. Shneiderman, Z.J. Palmor. Properties and control of the quadruple Decentralized PI (Solid, Blue) , DMPC (Dashed, Green)
tank process with multivariable dead times, Journal of Process 13
h 1 (c m )

Control 20 (2010) 12

[3] W.L. Luyben Simple method for tuning SISO controllers in 11

0 500 1000 1500
multivariable systems, Ind. Eng. Chem. Process Des. Dev.(1986). 13
u 1 (V o lt)

[4] K.H.Johansson, Alexander Horch, Olle Wijk Anders Hansson 12.5

Teaching multivariable control using quadruple tank process, 12

0 500 1000 1500
Proceedings of the 38th conference on Decision and control (1999). 12

[5] Shiu, S. J. and Huang, S. H., Sequential design method for

h 2 (c m )

11.5

multivariable decoupling and multiloop PID controllers, 1998. Ind. 11

0 500 1000 1500
Eng. Chem. Res. 37, 107–119. 13
u 2 (V o lt)

[6] Tan, W., Liu, J. Z., and Tam, P. K. S., PID tuning based on loop- 12

shaping H’ control. IEE Proc.: Control Theory Appl. 1998, 145 (4), 11
0 500 1000 1500
485–490. Time (sec)

[7] Wang, Q. G., Zou, Q., Lee, T. H., and Bi, Q., Autotuning of
multivariable PID controllers from decentralized relay feedback.
Automatica 1997, 33, 319–330.
[8] Zhuang, M. and Atherton, D. P., PID controller design for a TITO
system. IEE Proc.: Control Theory Appl. 1994,141, 111–120.
Fig.6.Responses of the water levels (h1 ,h2) and control signals(u1,u2) to
step in the reference signal to Tank1 and Tank 2with dead time process
20
Decentralized PI (Blue, Solid), DMPC (Red,Dashed)

[9] Karl Henrik Johansson., The quadruple tank process: A multivariable 18

laboratory process with an adjustable zero IEEE Transactions on 16

h1 (cm)

Control Systems Technology, Vol 8, No.3, May 2000. 14

[10] Liuping Wang Model Predictive Control System Design and 12

Implementation Using MATLAB Springer publications. 10

0 500 1000 1500

20

18

16
h2 (cm)

14

12

10
0 500 1000 1500
Time (sec)

Fig.7.Servo Responses of the water levels (h1 ,h2) and control signals(u1,u2)
to step in the reference signal to Tank1 and Tank 2
with dead time process

166