Finite Time Control of A Boiler-turbine System

Xiangze LIN1ÈXuan ZHOU2ÈYongqian DING1ÈShihua LI2ÈMingxia SHEN1

(1. College of Engineering, Nanjing Agricultural UniversityÈNanjing 210031;
2. School of Automation, Southeast University, Nanjing 210096;
Correspondent: Xiangze LIN, Email:xzlin@njau.edu.cn)

AbstractÖFeedback stabilization of boiler-turbine system is discussed by using finite time control technique. First, boiler-turbine
system is state feedback linearized. Then, by virtue of finite time control technique, series controllers and parallel controllers are
designed respectively to stabilize boiler-turbine system. The closed-loop system exhibits faster convergence, better robustness and
disturbance rejection properties. Simulations are employed to verify the proposed method.
Keywords: boiler-turbine system; finite time control ; feedback stabilization; state feedback linearization
0 Introduction
Self-regulation of boiler-turbine systems is the basic
requirement of a modern power plant, and an important 1 Boiler-turbine system
index of its technology and modernization level [1]. So A 160MW boiler-turbine system is a three-input-
research on control strategies for boiler-turbine system is three -output nonlinear system
significant both in theory and in practice [2]. X = f ( X ) + g ( X )U , (1)
The boiler-turbine system is a typical multi-variable,
non-linear and strong-coupled system. Up to now, design where states X = [ x1 , x2, x3 ]T and x1 , x2, x3 denote the drum
of feedback controllers for the boiler-turbine system is steam pressure( kg / cm 2 ), the electrical output ( MW ) and
mainly based on classical SISO control strategies or local
the density of fluid ( kg / cm3 ) in the system respectively;
linearization approaches [3]. Recently, Linear H ∞ robust
control methods and local linearization approaches have control inputs U = [u1 , u2, u3 ]T and u1 , u2, u3 denote the fuel
been applied [4, 5]. Method based on pole assignment of actuator position, the control valve position and the
feedback linearized systems has also been studied [6]. feedwater actuator position respectively;
However, local linearization approach may lead to small  0 
f ( X ) =  −0.016 x1 − 0.1x2  ;

work region and be in risk of losing balance with large 98

disturbance. The H ∞ controllers often have high order

 0.19 x1 / 85 
and make the responsiveness of the closed-loop system
very slow. Pole assignment method can only make the 0.9 −0.0018 x19 8 −0.15 
 
system converge to equilibrium exponentially, but no g( X ) =  0 0.073x19 8 0 .
faster convergence rate or better robustness for the system 0 −1.1 x1 85 141 85
can be obtained. 
Finite time control make system trajectory converge The outputs are
to equilibrium in finite time. The system under finite time y1 = x1 ;
control shows faster convergence and better robustness y 2 = x2 ;
properties than its behaviors under the control of the
y3 = 0.05(0.13073x3 + 100acs + qe 9 − 67.975) ,
previously mentioned methods. Now, finite time control
technology has been used in many fields, such as industrial where y3 is the drum water level ( m ) , acs and qe are the
robot [7], aerospace control system [8], robot control quality factor of steam and the evaporation mass flow rate
system [9], motor control system [10, 11], power system ( kg / s ) and can be denoted respectively as
[12], and so on. However, in the field of feedback control (1 − 0.001538 x3 )(0.8 x1 − 25.6)
of boiler - turbine system, there has been no report on acs = ;
application of finite time control technology, to the best of x3 (1.0394 − 0.0012304 x1 )
our knowledge. qe = (0.854u2 − 0.147) x1 + 45.59u1 − 2.54u3 − 2.096.
In this paper, series controllers and parallel controllers are  Note that the control inputs are saturated, i,e,
designed by using finite time control technique to control a 0 ≤ ui ≤ 1 , i = 1, 2,3 .
160 MW fossil fueled power generation unit. Simulation
results are presented to verify the design methods. 2 State feedback linearization

_____________________ In this section, boiler-turbine system (1) is state

This work is supported by the National High Technology Research feedback linearized. First, a useful theorem is quoted as
and Development Program ("863"Program) of China (2008AA10Z226) follows.
and projection sponsored by Agricultural Machinery Engineering of
Jiangsu Province (gxz08008).

978-1-4244-2723-9/09/$25.00 
c 2009 IEEE 2390

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 Lemma 2.1[13] A n -dimension affine nonlinear 3 Finite time controllers design
system
Now, feedback stabilization of boiler-turbine system
X = f ( X ) + g ( X )U , is discussed by using finite time control technique. First,
definitions of finite time stability are reviewed as follows.
can be state feedback linearized at x0 if and only if
Definition 3.1[14] Consider a time-invariant system
(1) Distributions Gi ( X ) , 0 ≤ i ≤ n are nonsingular and x = f ( x), f (0) = 0, x ∈ R n ,
have constant dimensions.
Where f : U0 → Rn is continuous on an open
(2) Distributions Gi ( X ) , 0 ≤ i ≤ n − 1 are involutive.
neighborhood U 0 of the origin. The equilibrium x = 0 of
(3) dim[Gn ( X )] = n .
the system is locally finite time stable if
Where
(i) it is asymptotically stable inU which is an open
G1 ( X ) = span { g1 ( X ),..., g m ( X )} ;
neighborhood of the origin with U ⊆ U 0 ;
G2 ( X ) = span { g1 ( X ),..., g m ( X ), ad f g1 ( X ),..., ad f g m ( X )} ; (ii) it is finite time convergent in U , that is, for any
initial condition x0 ∈ U / {0} , there is a settling
Gi ( X ) = span {ad f k g j ( X ) : 0 ≤ k < i,1 ≤ j ≤ m} , i = 1,..., n. time T > 0 such that every solution x(t , x0 ) of
For boiler - turbine system (1), it is easy to verify that this system is defined with x(t , x0 ) ∈ U / {0} for
(1) G1 ( X ) = span { g1 ( X ), g 2 ( X ), g3 ( X )} È any t ∈ [0, T ) and satisfies lim x(t , x0 ) = 0 and
t →T
rank (G1 ( X )) = rank ( g1 ( X ), g 2 ( X ), g 3 ( X )) =
x(t , x0 ) = 0 , for all t ≥ T .
rank ( g1 ( X ), g 2 ( X ), g3 ( X ),[ gi ( X ), g j ( X )]) = 3 = nø
Moreover, if U = R n , the equilibrium x = 0 is globally
∀1 ≤ i, j ≤ 3. finite time stable.
Therefore, G1 ( X ) at x0 is nonsingular and involutive. By virtue of finite time control technique, series
(2) Obviously, controllers and parallel controllers are designed to stabilize
G1 ( X ) ⊂ Gi ( X ) i = 2,..., n , boiler-turbine system respectively.
n = 3 = rank (G1 ( X )) ≤ rank (Gi ( X )) ≤ n = 3 i = 2,..., n È 3.1 Series controllers
and First, let’s review a useful theorem.
rank (Gi ( X )) = 3 = n , i = 1,..., n .
Theorem 3.1[15] Let ri βi −1 È i = 1, 2," , n and k be
Therefore, distributions Gi ( X ) , 2 ≤ i ≤ n are involutive
constants satisfying the following given inequalities:
and dim[Gn ( X )] = n . γ +k
Hence, by virtue of lemma 2.1, the boiler-turbine γ 1 = 1,..., γ i = i −1 , γ i > −k > 0, i = 1,..., n;
mi −1
system can be state feedback linearized.
The following feedback control law is adopted β 0 = γ 2 , ( βi mi + 1)γ i +1 ≥ ( βi −1 mi −1 + 1)γ i > 0, β n −1 > 0, i = 1,..., n − 2.
u = g −1 ( X )(v − f ( X )), (2)
that is, where m0 = 1 . Then there are constants li > 0, i = 1,..., n ,
−1 such that the control law
0.9 −0.0018x −0.15 
98
v1   0 
u ( x) = un ( x),
1
 
u =  0 0.073x 1
98
0  (v2  − −0.016x19 8 −0.1x2 ).
  
 0 −1.1x1 85 141 85 renders the system
  v3   0.19x1 /85 
 x1 = x2 m1 ,
Substituting equation (2) into system (1), one obtains 
 #
X = v, (3) 
 =
 n −1 xn ,
x mn −1
where v = [ v1 v2 v3 ] denote new system inputs.
 x = u.
Under the control law (2), system (1) becomes system  n

(3). The structural transformation is shown in Fig.1 finite time stable, where ui , i = 1, 2," , n are defined as
follows:
 u0 = 0,

X
mβ
ui +1 ( x1 ,..., xi +1 ) = −li +1 sig[ sig ( xi +1 ) i i − sig (
• m

v U X = f ( X ) +  gi ( X )U i
U = α (v) i =1

y i = hi ( X )  ui ( x1 ,..., xi )) βi ](γ i+1 + k ) /(γ i+1mi β i ) , i = 0,..., n − 1.

According to Theorem 3.1, series controllers can be

designed to stabilize boiler-turbine system in finite time.
X = v Let e1 = x1 − x10 ×e2 = x2 − x20 ×e3 = x3 − x30 , where
( x10 , x20 , x30 ) = (108ø66.65ø428) are the half load points of
Fig.1 Structure of state feedback linearization
boiler - turbine system. Then system (3) can be
transformed into

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  e1 = x1 = v1 ; 4 Simulation results

e2 = x2 = v2 ; (4) The following simulations are under the assumption
 e = x = v . that at t = 0 the boiler-turbine system works steadily at the
 3 3 3

Let half load point ( x10 , x20 , x30 ) = (108ø66.65ø428) .

v1 = e2 ; v2 = e3 ; v3 = w , (5) 4.1 Series controllers case
and
Taking into account the influence of saturation, let
w = −l23 5 l3 (e1 + e29 7 )1 3 − l3 e33 5 ,
l2 = 1, l3 = 0.5 in equation (5). Now, with the system under
which implies that the parameters in Theorem 3.1
series controller, simulation results are presented in the
2
k=− , γ = (1, 7 , 5 ), β = ( 7 , 9 , 3 ) and li > 0, i = 2, 3. following cases.
9 9 9 9 7 5 Case 1 A step input disturbance of magnitude 0.5 at
By virtue of Theorem 3.1, one obtains the conclusion x1 is inserted at t = 50 and a step input disturbance of
that the closed-loop system is finite time stable.
Under control law (5), the initial inputs become to be magnitude 5 at x1 is inserted at t = 100 , and a step change
in y1 of magnitude -5 is inserted at t = 200 .
10 9e + 2 30879 (423 x 9 8 + 275 x ) / x 9 8 (e
 2 1 1 1 3 120

u =  1000 / 73 / x1 (e3 + 2 125 x1 + 0.1x2 )

98 98 115

y1
110

 1100 /10293 / x 1 8 (e + 2 125 x 9 8 + 0.1x )

105

 1 3 1 2 100
0 50 100 150
t
200 250 300

+ 2 125 x1 + 0.1x2 ) + 85 846 w − 19 86400 x1 

98 68

 67

.
y2
66


65

+85 /141w − 19 /14100 x1


64
0 50 100 150 200 250 300
t

0.5

3.2 Parallel controllers

y3

Another theorem used to design parallel controllers

under which the closed-loop system is finite stable is -0.5
0 50 100 150 200 250 300


t

quoted as follows.
Fig 2. Output tracking for case 1 (series controller)
Theorem 3.2[16, 17] Consider a system as follows
x = −α x − β x q p , Case 2 A step input disturbance of magnitude −0.65
where x ∈ R, α , β > 0, p > q > 0 are integers, p, q are odd. at x2 is inserted at t = 50 and a step input disturbance of
For any given initial condition x(0) = x0 ≠ 0 , the system magnitude 5 at x2 is inserted at t = 100 , and a step change
converges to x = 0 in finite time and the settling time in y2 of magnitude -6.65 is inserted at t = 200 .
( p −q) p
αx +β
120

p
ln 0
115

T= .
α ( p − q) β
y1

110

105

According to Theorem 3.2, the parallel controllers 100

0 50 100 150 200 250 300
t
can be designed to stabilize the boiler-turbine system in 75

finite time as follows. 70

y2

Let the feedback control laws be 65

60

 v1 = − k1 ( x1 − x10 ) − k1' ( x1 − x10 )1 3 ; 55

0 50 100 150 200 250 300

 t

v2 = − k2 ( x2 − x20 ) − k2 ( x2 − x20 ) ;

' 13
(6) 0.5

 v = −k ( x − x ) − k ' ( x − x )1 3 .
 3
y3

0
3 3 30 3 3 30

System (1) comes to be -0.5

0 50 100 150 200 250 300

 x1 = −k1 ( x1 − x10 ) − k1' ( x1 − x10 )1 3 ;

t


 x2 = −k2 ( x2 − x20 ) − k2 ( x2 − x20 ) ;
' 13
(7)
 x = −k ( x − x ) − k ( x − x ) 3 .
' 1
Fig 3. Output tracking for case 2 (series controller)
 3 3 3 30 3 3 30
Case 3 A step input disturbance of magnitude 0.5
where ki > 0, ki > 0(i = 1, 2,3) .
'
at x3 is inserted at t = 50 and a step input disturbance of
According to equation (7), the closed loop system is
magnitude10 at x3 is inserted at t = 100 , and a step change
parallel. The linear parts of controllers play a main role
when errors are large, while with small errors, the in y3 of magnitude 0.12 is inserted at t = 200 .
nonlinear parts of the controllers will go into effect. Hence,
boiler-turbine system is stabilized in finite time.

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 120 120

115
110

y1

y1
110
100
105

90 100
0 50 100 150 200 250 300 0 50 100 150 200 250 300
t t
75

70
70
y2

65

y2
65
60
60
55
0 50 100 150 200 250 300
t 0 50 100 150 200 250 300
t
0.5
0.5
y3

y3
0

-0.5
0 50 100 150 200 250 300
-0.5


t 0 50 100 150 200 250 300
t

Fig 6. Output tracking for case 2 (parallel controller)

Fig 4. Output tracking for case 3 (series controller).
Remark 4.1 Simulation results show the system can
demonstrate a good dynamic performance despite of small
disturbances, large disturbances or even changes of the
system operating points. Using series structure of the
systemÈwe need to design only one controller. However,
due to the series structure, the closed-loop system is
coupled.
Case 3 A step input disturbance of magnitude 0.5 at
x3 is inserted at t = 50 and a step input disturbance of
magnitude10 at x3 is inserted at t = 100 , and a step change
in y3 of magnitude 0.12 is inserted at t = 200 .
114
112
110

y1
108
106
4.2 Parallel controllers case 104
102
0 50 100 150 200 250 300

Let the parameter values of equation (6) 68

t

k1 = k 2 = k3 = 1, k1' = k2' = k3' = 2 . With system under 67

y2

parallel controllers, simulation results are presented as 66

follows. 65
0 50 100 150
t
200 250 300

Case 1 A step input disturbance of magnitude 0.5 at 0.3

x1 is inserted at t = 50 and a step input disturbance of 0.2

y3

0.1

magnitude 5 at x1 is inserted at t = 100 , and a step change 0

in y1 of magnitude -5 is inserted at t = 200 .

-0.1
0 50 100 150 200 250 300
t

114
112 Fig 7. Output tracking for case 3 (parallel controller)
110
y1

108
106 Remark 4.2 Simulation results of above three cases
104
102
0 50 100 150 200 250 300
show that
68
t
1)The input v1 (v2 ) and output y2 ( y1 ) are decoupled since
67
a step change in one variable has little effect on the other
variable.
y2

66

65
2) Under control of parallel controllers, the closed-loop
0 50 100 150
t
200 250 300
system can obtain fast convergence, high-precision
0.5
tracking performance and robustness despite of
disturbances or even changes of the system operating
y3

points.
-0.5
0 50 100 150 200 250 300
Remark 4.3 In this paper, series controller and
t
parallel controllers designed by using finite time control
Fig 5. Output tracking for case 1 (parallel controller) technique can stabilize boiler-turbine system in finite time
(the settling time is relevant to parameters and initial
Case 2 A step input disturbance of values). Compared with the pole assignment method [6] in
magnitude −0.65 at x2 is inserted at t = 50 and a step which case the system converges to the equilibrium only
input disturbance of magnitude 5 at x2 is inserted at as time goes to infinity, the system under finite time
t = 100 , and a step change in y2 of magnitude -6.65 is control exhibits faster convergence, better robustness and
disturbance rejection properties.
inserted at t = 200 .
5 Conclusions
In this paper, boiler-turbine system was linearized by
using state feedback linearization at first. Then, in terms of
finite time control technique, series controller and parallel
controllers have been designed respectively to stabilize

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boiler-turbine system. Under the control of series
controllers, boiler-turbine system converged fast and
robust enough. Unfortunately, the closed-loop system was
coupled due to the series structure. Under the control of
parallel controllers, boiler-turbine system was decoupled,
and exhibited faster convergence, better robustness
properties compared with the pole assignment method.
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