MULTI VARIABLE CONTOL (MIMO PROCESS)

AIM:
To design a multi variable control.

SOFTWARE USED:

Software : MATLAB R2017b

Tool : Simulink

THEORY:

Multivariable control system define a system in which the variable the variable interacts
strongly. This kind of system must have more than one input and more than one output. A disturbance
in any input causes a change of response from at least one output.

This kind of system have as many inputs and outputs as needed to control the process. A system
with an equal number of inputs and outputs is said to be square.

A disturbance in any variable can cause a change in response in any output in its signal path.
Depending on the system design, these paths can be direct or indirect.

In most control system, a particular input disturbance cause one output to respond by a larger
percentage than the other outputs. The response of the other output is called interaction. Interaction
is often a result of system design and cannot be avoided. However the system must either correct or
compensate for interaction
PROCESS INTERACTION:

 Two controlled variables and two manipulated variables

(4 transfer functions required)

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

RELATIVE GAIN ARRAY:

𝑂𝑝𝑒𝑛 𝑙𝑜𝑜𝑝 𝑔𝑎𝑖𝑛 𝑏𝑒𝑡𝑤𝑒𝑒𝑛 𝑌𝑖 𝑎𝑛𝑑 𝑚𝑗
(𝑎𝑙𝑙 𝑀𝑉 𝑒𝑥𝑐𝑙𝑢𝑑𝑖𝑛𝑔 𝑚𝑗 𝑏𝑒𝑖𝑛𝑔 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡)
λij = 𝐶𝑙𝑜𝑠𝑒𝑑 𝑙𝑜𝑜𝑝 𝑔𝑎𝑖𝑛 𝑏𝑒𝑡𝑤𝑒𝑒𝑛 𝑌𝑖 𝑎𝑛𝑑 𝑚𝑗
(𝑎𝑙𝑙 𝐶𝑉 𝑒𝑥𝑐𝑙𝑢𝑑𝑖𝑛𝑔 𝑌𝑖 𝑏𝑒𝑖𝑛𝑔 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡)

For a 2X2 system,

Let,

G(s) =

Steady state gain matrix,

𝐾1 𝐾2
K=[ ]
𝐾3 𝐾4
12.8 −18.9
K=[ ]
6.6 −19.4
Effective transfer function.
𝐺𝑖𝑖
Gii eff =
𝜆𝑖𝑖

G12− G21 G12− G21

G11 eff = G11 - G22 eff = G22 -
G22 G22

12.8e−S 6.36(14.4𝑆+1)𝑒 −7𝑆 −19.4e−3S 9.75(16.7𝑆+1)𝑒 −9𝑆

= - = +
16.78S+1 (21𝑆+1)(10.9𝑆+1) 14.4S+1 (21𝑆+1)(10.9𝑆+1)

G11 eff - SIMULINK MODEL:

Dead time, θ = 1.5727sec

Time constant, τ = 10.0095sec

Gain, K = 6.44
G22 eff - SIMULINK MODEL:

Dead time, θ = 4.2671sec

Time constant, τ = 22.4183sec

Gain, K = -29.15

Let,
θ
τP +
2
Kc = θ
KP +(λ+ )
2

λ = θ(1.7)

θ
TI = τP +
2
τP
TD =
2τP +θ

Kc TI TD
GC1 0.4845 10.7958 0.729
GC2 -0.0897 24.5518 1.9430
MIMO PROCESS:

SIMULINK MODEL:

OUTPUT:

RESULT:

Thus multivariable control was designed and simulated.