Multiloop and Multivariable Control PDF

Multiloop and Multivariable Control

Process Interactions and Control Loop Interactions
Pairing of Controlled and Manipulated Variables
Singular Value Analysis
Tuning of Multiloop PID Control Systems
Decoupling and Multivariable Control Strategies
Control of Multivariable Processes

Control systems that have only one controlled variable
and one manipulated variable.

Single-input, single-output (SISO) control system
Single-loop control system
In practical control problems there typically are a
number of process variables which must be controlled

and a number of variables which can be manipulated.
Multi-input, multi-output (MIMO) control system
Example: product quality and throughput
must usually be controlled.
Note the "process interactions" between controlled
and manipulated variables.
2
Several simple physical examples
Process interactions :
Each manipulated variable
can affect both controlled
variables
MIMO
SISO
In this chapter we will be concerned with characterizing process

interactions and selecting an appropriate multiloop control
configuration.
If process interactions are significant, even the best multiloop
control system may not provide satisfactory control.
In these situations there are incentives for considering
multivariable control strategies.
Definitions:
Multiloop control: Each manipulated variable depends on

only a single controlled variable, i.e., a set of conventional
feedback controllers.
Multivariable Control: Each manipulated variable can depend

on two or more of the controlled variables.
Examples: decoupling control, model predictive control
5
Multiloop Control Strategy
Typical industrial approach

Consists of using several standard FB controllers (e.g., PID),
one for each controlled variable.
Control system design

1. Select controlled and manipulated variables.
2. Select pairing of controlled and manipulated variables.
3. Specify types of FB controllers.
Example: 2 x 2 system
Two possible controller pairings:

U1 with Y1, U2 with Y2
(1-1/2-2 pairing)
or
U1 with Y2, U2 with Y1
(1-2/2-1 pairing)
Note: For n x n system, n! possible pairing configurations.
Process Interactions
Transfer Function Model (2 x 2 system)
Two controlled variables and two manipulated variables
(4 transfer functions required)
Y1( s )
Y1( s )
= G p11( s ),
= G p12 ( s )
U1 ( s )
U2( s )
Y2 ( s )
Y2 ( s )
= G p 21( s ),
= G p 22 ( s )
U1 ( s )
U2( s )
(18 1)
Thus, the input-output relations for the process can be

written as:
Y1( s ) = GP11( s )U1( s ) + GP12 ( s )U 2 ( s )
Y2 ( s ) = GP 21( s )U1( s ) + GP 22 ( s )U 2 ( s )
(18 2 )
(18 3)
7
In vector-matrix notation as
Y ( s ) = G p ( s )U ( s )
(18 4)
where Y(s) and U(s) are vectors
Y1 (s )
U1 (s )
Y (s ) =
U (s ) =
Y
(
s
)
U
(
s
)
2
2
(18 5)
And Gp(s) is the transfer function matrix for the process

G p11( s ) G p12 ( s )
G p( s ) =
G p 21( s ) G p 22 ( s )
(18 6 )
The steady-state process transfer matrix (s=0) is called the process

gain matrix K
G p11( 0 ) G p12 ( 0 ) K
= 11
K =
G p 21( 0 ) G p 22 ( 0 ) K 21
K12
K 22
8
Block Diagram for 2x2 Multiloop Control
1-1/2-2 control scheme
1-2/2-1 control scheme
Control-loop Interactions
Process interactions may induce undesirable
interactions between two or more control loops.

Example: 2 x 2 system
Change in U1 has two effects on Y1
(1) direct effect : U1 Gp11 Y1
(2) indirect effect :
U1 Gp21 Y2 Gc2 U2 Gp12 Y1
10
Control loop interactions are due to the presence of a
third feedback loop.

Example: 1-1/2-2 pairing
The hidden feedback

control loop (in dark lines)
Problems arising from control loop interactions

i. Closed-loop system may become destabilized.
ii. Controller tuning becomes more difficult.
11
Block Diagram Analysis

For the multiloop control configuration, the transfer function
between a controlled and a manipulated variable depends on
whether the other feedback control loops are open or closed.
Example: 2 x 2 system, 1-1/2 -2 pairing

From block diagram algebra we can show
Y1( s )
= G p11( s )
U1( s )
(second loop open)
G p12G p 21Gc 2
Y1( s )
= G p11
U1( s )
1 + Gc 2G p 22
(second loop closed)
Note that the last expression contains GC2.

The two controllers should not be tuned independently
12
Example: Empirical model of a distillation column

12.8e s
X D ( s ) 16.7 s + 1
X (s) =
7 s
B 6.6e
10.9s + 1
18.9e 3s
21s + 1 R( s )
19.4e 3s S ( s )
14.4s + 1
xD set-point response
Single-loop ITAE tuning

Pairing
Kc
xD - R
0.604
16.37
xB - S
-0.127
14.46
xB set-point response
13
Closed-Loop Stability
Relation between controlled variables and set-points
Closed-loop transfer functions
where
Characteristic equation
14
Example: Two P controllers are used to control the process

1.5
2
10s + 1 s + 1
G p (s) =
2
1.5
s + 1 10 s + 1
Stable region for Kc1 and Kc2

1-1/2-2 pairing
1-2/2-1 pairing
15
Pairing of Controlled and Manipulated Variables

Control of distillation column
Controlled variables: xD , xB , P, hD , hB
Manipulated variables: D, B, R, QD , QB
Possible multiloop
control strategies
= 5! = 120
Column
pressure
Condenser heat duty
Reflux drum liquid level

Top flow rate
Reboiler heat duty Base liquid level
Reflux flow rate
Bottom flow rate

Bottom composition
Top composition
16
One of the practical pairing

R xD
QB xB
QD P
PC
D hD
B hB
AC1
LC1
AC2
LC2
17
Relative Gain Array (RGA)

(Bristol, 1966)
Provides two types of useful information:
1. Measure of process interactions

2. Recommendation about best pairing of
controlled and manipulated variables.
Requires knowledge of steady-state gains
but not process dynamics.
18
Example of RGA Analysis: 2 x 2 system

Steady-state process model
y1 = K11u1 + K12u2
y2 = K 21u1 + K 22u2
or
y = Ku
The RGA, , is defined as:
11 12
=
21
22
where the relative gain, ij , relates the ith controlled variable
and the jth manipulated variable
( yi / u j )u open-loop gain
ij
=
( yi / u j ) y closed-loop gain
( yi / u j )u : partial derivative evaluated with all of the manipulated variables

except uj held constant (Kij)
( yi / u j ) y : partial derivative evaluated with all of the controlled variables

except yi held constant
19
Scaling Properties:
ij is dimensionless
i.
ii.
=
ij
ij
=1
For a 2 x 2 system,
11 =
1
,
K12 K 21
1
K11K 22
1
=

1
12 = 1 11 = 21
( = 11 )
Recommended Controller Pairing

It corresponds to the ij which have the largest
positive values that are closest to one.
20
In general:
1. Pairings which correspond to negative pairings should
not be selected.
2. Otherwise, choose the pairing which has ij closest
to one.
Examples:
Process Gain
Matrix, K :
Relative Gain
Array, :
1 0
0 1
K12
0
0 1
1 0
K11
0
K12
K 22
K11
K
21
0
K 22
K11
0
0
K 22
0
K
21
1 0
0 1
1 0
0 1
21
For 2 x 2 systems:
y1 = K11u1 + K12u2
11 =
y2 = K 21u1 + K 22u2
1
,
K12 K 21
12 = 1 11 = 21
K11K 22
Example 1:
K11
K =
K 21
K12 2 1.5
=
K 22 1.5 2
2.29 1.29
=
.
.
1
29
2
29
Recommended pairing is Y1 and U1,

Y2 and U2.
Example 2:
2 1.5
K =
1
.
5
2
0.64 0.36
=
0
.
36
0
.
64
Recommended pairing is Y1 with U1 and Y2 with U2.

22
EXAMPLE: Blending System

Controlled variables: w and x
Manipulated variables: wA and wB
Steady-state gain matrix:
Steady-state model:
w = wA + wB
xw = wA
x=
The RGA is:
wA
wA + wB
wA
1
K = 1 x
1
x
w
wB
1 x
=
x 1 x
x
w x
Note that each relative gain is between 0 and 1. The recommended

controller pairing depends on the desired product composition x.
For x = 0.4, w-wB / x-wA (large interactions)
For x = 0.9, w-wA / x-wB (small interactions)
23
RGA for Higher-Order Systems

For a n x n system,
u1 u2
y1 11 12
y2 21 22
=

yn n1 n1
un
1n
2 n
(18 25)
nn
Each ij can be calculated from the relation,
ij = Kij H ij
(18 37 )
where Kij is the (i,j) -element of the steady-state gain K matrix,
( ).
Hij is the (i,j) -element of the = K

In matrix form,
= K H
-1 T
: Schur product
(element by element multiplication)
Note :
KH
24
Example: Hydrocracker
The RGA for a hydrocracker has been reported as,
u1
u2
u3
u4
y1 0.931 0.150 0.080 0.164
y2 0.011 0.429 0.286 1.154
y3 0.135 3.314 0.270 1.910
y4 0.215 2.030 0.900 1.919
Recommended controller pairing?
25
Dynamic Consideration
An important disadvantage of RGA approach is that it ignores
process dynamics
Example:
2e s
1.5e s
10s + 1
s
1
+
G p (s) =
s
2
1.5e
s
e
s + 1 10s + 1
11 = 0.64
Recommended controller pairing?
26
Singular Value Analysis

Any real m x n matrix can be factored as,
T
K=WV
Matrix is a diagonal matrix of singular values:
= diag (1, 2, , r)
The singular values are the positive square roots of the
T
T
eigenvalues of K K ( r = the rank of K K).
The columns of matrices W and V are orthonormal. Thus,
T
T
WW = I and VV = I
Can calculate , W, and V using MATLAB command, svd.
Condition number (CN) is defined to be the ratio of the largest
to the smallest singular value,
CN
1
r
A large value of CN indicates that K is ill-conditioned.

27
Condition Number
CN is a measure of sensitivity of the matrix properties to
changes in individual elements.
Consider the RGA for a 2x2 process,
1 0
K =
10 1
= I
If K12 changes from 0 to 0.1, then K becomes a singular

matrix, which corresponds to a process that is difficult to
control.
RGA and SVA used together can indicate whether a process
is easy (or difficult) to control.
10.1
(K ) =
0
0
0.1
CN = 101
K is poorly conditioned when CN is a large number

(e.g., > 10). Thus small changes in the model for this
process can make it very difficult to control.
28
Selection of Inputs and Outputs
Arrange the singular values in order of largest to smallest

and look for any i/i-1 > 10; then one or more inputs (or
outputs) can be deleted.
Delete one row and one column of K at a time and evaluate
the properties of the reduced gain matrix.
Example:
0 .4 8
K = 0 .5 2
0 .9 0
0 .9 0
0 .9 5
0 .9 5
0 .0 0 6
0 .0 0 8
0 .0 2 0
29
Multiloop and
Multivariable
Chapter
18 Control
0.5714 0.3766 0.7292

W = 0.6035 0.4093 0.6843
0.5561 0.8311 0.0066
0
0
1.618
= 0
1.143
0
0
0
0.0097
0.0151
0.0541 0.9984
V = 0.9985 0.0540 0.0068
0.0060 0.0154 0.9999
CN = 166.5 (1/3)
The RGA is:
2.4376 3.0241 0.4135

= 1.2211 0.7617 0.5407
2.2165 1.2623 0.0458
Preliminary pairing: y1-u2, y2-u3, y3-u1.

CN suggests only two output variables can be controlled. Eliminate one
input and one output (3x32x2).
30
31
Matrix Notation for Multiloop Control Systems

Gp
Multi-loop
Single loop
CLTF
Y=
G p Gc
1 + G p Gc
Ysp
Y = + G pGc
-1
G pGc Ysp
Y : (n x 1) vector of control variables

Ysp : (n x 1) vector of set-points
Gp : (n x n) matrix of process transfer functions
Gc : (n x n) diagonal matrix of controller
transfer functions
Characteristic
equation
1 + G p Gc = 0
det + G pGc = 0
32
Tuning of Multiloop PID Control Systems

Detuning method
Each controller is first designed, ignoring process interactions
Then interactions are taken into account by detuning each controller
More conservative controller settings (decrease controller gain,
increase integral time)
Tyreus-Luyben (TL) tuning
33
Biggest log-modulus tuning (BLT) method

(Luyben, 1986)
Log-modulus : a robustness measure of control systems
Single loop
Lc = 20log
G p Gc
= 20log
1 + G p Gc
G
1+ G
G
Lc max = max Lc = max 20log

1+ G
A specification of Lc max = 2 dB has been suggested.

Multi-loop
Define W = 1 + det + G pGc
W
Lc = 20log
1+W
max
= max Lc = 2n
Luyben suggest that Lc
where n is the dimension of the multivariable system.
34
Tuning Procedure of BLT method

1. Calculate Z-N PI controller settings for each control loop
K c,ZN = 0.45 K cu , I ,ZN = Pu 1.2

2. Assume a factor F; typical values between 2 and 5
3. Calculate new values of controller parameters by
K ci ,ZN
K ci =
, Ii = F Ii ,ZN ; i = 1, 2,, n
F
4. Compute W = 1 + det + G G
for 0 <
p c
(detuning)
for example, 2x2 system
det + G pGc = 1 + Gc1G p11 + Gc 2G p 22 + Gc1Gc 2 G p11G p 22 G p12G p 21
5. Determine
W
Lc max = max 20log

1+W
6. If Lc max 2n , select a new value of F and return to step 2 until Lc max = 2n

35
Multiloop IMC Controller

Design IMC controller based in diagonal process transfer
functions
G p11 G p1n
Gp =

G pn1 G pnn
The IMC controller is designed as

Gc = diag [Gc1 Gc 2 Gcn ]
with
Gci = G pii1 fi
i = 1, 2,, n
Since the off-diagonal terms of Gp have been dropped,

modeling error are always present.
36
Alternative Strategies for Dealing with

Undesirable Control Loop Interactions
1. "Detune" one or more FB controllers.
2. Select different manipulated or controlled variables.
e.g., nonlinear functions of original variables
3. Use a decoupling control scheme.
4. Use some other type of multivariable control scheme.
Decoupling Control Systems
Basic Idea: Use additional controllers (decoupler) to
compensate for process interactions and thus reduce control
loop interactions
Ideally, decoupling control allows setpoint changes to affect
only the desired controlled variables.
Typically, decoupling controllers are designed using a simple
process model (e.g., a steady-state model or transfer function
model)
37
A Decoupling Control System
decoupler
38
38
Decoupler Design Equations

We want cross-controller, T12, to cancel the effect of U2 on Y1.
Thus, we would like G U + G U = 0
p11
or
12
p12
22
G p11T12U 22 + G p12U 22 = 0
Because U22 0 in general, then
T12 =
G p12
G p11
Similarly, we want T12 to cancel the effect of U1 on Y2. Thus, we

require that,
G p 22T21U11 + G p 21U11 = 0
T21 =
G p 21
G p 22
Compare with the design equations for feedforward control based

on block diagram analysis
39
Variations on a Theme
1. Partial Decoupling:
Use only one cross-controller.
2. Static Decoupling:
Design to eliminate Steady-State interactions
Ideal decouplers are merely gains:
T12 =
K p12
T21 =
K p 21
K p11
K p 22
3. Nonlinear Decoupling
Appropriate for nonlinear processes.
40
Wood-Berry Distillation Column Model

(methanol-water separation)
CT
Feed F
Reflux R
Distillate D,
composition (wt. %) XD
Steam S
CT
Bottoms B,
composition (wt. %) XB
41
41
Wood-Berry Distillation Column Model

12.8e s
16.7 s + 1
y1 ( s )
y ( s) =
2
7 s
6.6e
10.9s + 1
18.9e3s
21s + 1
3s
19.4e
14.4 s + 1
u1 ( s )
u ( s )
2
(18 12)
where:
y1 = xD = distillate composition, %MeOH
y2 = xB = bottoms composition, %MeOH
u1 = R = reflux flow rate, lb/min
u1 = S = reflux flow rate, lb/min
4242
43

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