Multivariable Control

Systems
Ali Karimpour
Assistant Professor
Ferdowsi University of Mashhad
 Introduction

Introduction

Topics
p to be covered include:

™ Introduction
™ Interaction
™ Stability
™ Analysis and design in multivariable systems
™ Some example of multivariable system
™ References

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Ali Karimpour Feb 2012
 Introduction

Introduction

What is multivariable control?

MIMO systems are considered as multivariable systems.
A General multivariable plant

Why they are different from SISO?

Since of interaction and design procedure. 3
Ali Karimpour Feb 2012
 Introduction

Topics to be covered include:

™ Introduction
d i
™ Interaction
™ Stability
™ Analysis and design in multivariable systems
™ Some example of multivariable system
™ Evaluation and References

4
Ali Karimpour Feb 2012
 Introduction

Interaction
Interaction

Interaction

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 Introduction

Interaction

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 Introduction

Interaction

One way or single direction interaction (Neutralized process)

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 Introduction

Interaction

One way or single direction interaction (Stirred tank hitter)

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Ali Karimpour Feb 2012
 Introduction

Topics to be covered include:

™ Introduction
d i
™ Interaction
™ Stability
™ Analysis and design in multivariable systems
™ Some example of multivariable system
™ Evaluation and References

9
Ali Karimpour Feb 2012
 Introduction

Stability

For stability analysis (BIBO) in the case of no interaction (g12(s)=g21(s)=0)

check:
For stability analysis (BIBO) with interaction check: 10
Ali Karimpour Feb 2012
 Introduction

Topics to be covered include:

™ Introduction
d i
™ Interaction
™ Stability
™ Analysis and design in multivariable systems
™ Some example of multivariable system
™ Evaluation and References

11
Ali Karimpour Feb 2012
 Introduction

Analysis and design in multivariable systems

Issues in the Analysis and Design of multivariable control design

• Multivariable system representation

• Multivariable poles and zeros

• Controllability and observability

• State space realization

• Multivariable system
y stabilityy

• Multivariable system robustness analysis

• C t l structure
Control t t design
d i
Diagonal or decentralized
• Control system design strategy Block diagonal
• Control design methodology Fully centralized
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 Introduction

Analysis and design in multivariable systems

Multivariable Design methodologies

• State space methods

• Multivariable root loci approach

• Rosenbrock frequency response approach

• Pole placement methods

• Eigenstructure
g assignment
g

• Multivariable PID controllers

• Th classical
The l i l robust
b t control
t l methods
th d

• QFT

• Soft computing approach

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Ali Karimpour Feb 2012
 Introduction

Topics to be covered include:

™ Introduction
d i
™ Interaction
™ Stability
™ Analysis and design in multivariable systems
™ Some example of multivariable system
™ Evaluation and References

14
Ali Karimpour Feb 2012
 Introduction

Some example of multivariable system

Motor generator sets A multi machine ppower system

y

Aero-engine

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 Introduction

Some example of multivariable system

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 Introduction

Quadruple tank process

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 Introduction

Topics to be covered include:

™ Introduction
d i
™ Interaction
™ Stability
™ Analysis and design in multivariable systems
™ Some example of multivariable system
™ Evaluation and References

18
Ali Karimpour Feb 2012
 Introduction

Rreferences

References

• Multivariable Feedback Design, J M Maciejowski, Wesley,1989.

• Multivariable Feedback Control,

Control S.Skogestad,
S Skogestad II. Postlethwaite
Postlethwaite,
Wiley,2005.
• Control Configuration Selection in Multivariable Plants, A.
Kh ki S di h B
Khaki-Sedigh, B. M
Moaveni,i S
Springer
i V
Verlag,
l 2009.
2009

• ‫ دﻛﺘﺮ ﻋﻠﻲ ﺧﺎﻛﻲ ﺻﺪﻳﻖ‬،‫ﺗﺤﻠﻴﻞ و ﻃﺮاﺣﻲ ﺳﻴﺴﺘﻢ ﻫﺎي ﭼﻨﺪ ﻣﺘﻐﻴﺮه‬

Web References

• http://www.um.ac.ir/~karimpor
• http://saba.kntu.ac.ir/eecd/khakisedigh/Courses/mv/
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