FEEDBACK CONTROL LOOP

measurement
Process input
Target
y
sp

Process
y(t)
Process output
Sensor
-
+
error
Controller
Disturbances
Actuator
u(t)
Why Control?
To make set-point
changes: Servo
To reject disturbances:
Regulation
t
y
New set-point
t
y
Old set point
Targeted set-point
dt t e Min ) (
0
2
}

1931: Foxboro Com. introduces the first
industrial controller PI (Proportional-Integral).







1956: Computers become digital controllers
}
+ =
=
dt t e
K
t e K t u
t measuremen Target t e
I
c
c
) ( ) ( ) (
) (
t
THE REST IS HISTORY....
Some Process Units
LC
TC
CC
Reactor Heat Exchanger Tank
Distillation Column Control
CSTR
TC
Reactor
Temperature
Heat
Heat generation
Heat removal
Unstable
The reactor needs to be stabilized and run at the
open-loop unstable steady-state.
Cooling water
Bioreactor
Control level, temperature, pH and DO by adjusting fresh feed
(nutrient/migroorganisms), agitator speed, inlet air flow, inlet acid/base, exit flow
Nutrients + microbial cells > cell growth + energy + reaction products
Robotic Control

Temperature Control
Boiler Control

PLANT
REGULATION
ADAPTATION
OPTIMIZATION
Optimization
Models
Control
Models
Measured disturbances
Control objectives
Measurements
Control inputs
HIERARCHICAL CONTROL
Set Points
Design Procedure
Define the
physical system
Performance
Analysis
Develop models
Dynamic and SS
Analysis
Controller Design
Designer
Final Design
Optimization
Types of Control Systems
Open-loop (feed forward)
Controller Process output
Desired output
response
Measured disturbances
Controller Process output
Desired output
response
disturbances
sensor
Feedback (closed-loop) Controller
PROCESS
MODEL
Controller
+
-
-
+
Target Output
MODEL PREDICTIVE CONTROL
(MPC)
SENSOR
Input
Disturbances
Modeling for Control
Reasonable good model which accounts for major variable effects and
dominant dynamic characteristics.
One needs both steady state and dynamic information.
Sometimes a very detailed model is a luxury and difficult to use for control.
Most of the time models are simplified and reduced order .
Oversimplification leads to the wrong design.
Lee and Kugelman model
Iscol model
Reactor
temperature
Feed rate
Conclusion
Due to the reaction term different models
predict:
(a) different operating points;
(b) different dynamic behavior and
control models.

Estimate the reaction term carefully
Types of Dynamic Models
Distributed
Lumped
Deterministic
Stochastic
Linear Nonlinear
Hybrid
Empirical
First Principles
First Principles Modeling
(nonlinear,deterministic,lumped)
1
1 1 2 1 1
1 2 1 1
1 1
1
n m p
n
n n m p
n m
p
dx
f ( x , x ,.., x ;u ,....u ;d ,...d )
dt
....
dx
f ( x , x ,.., x ;u ,....u ;d ,...d )
dt
x u
x . State var iables ; u . Manipulated inputs
x u
d
d . Disturbance inputs
d
=
=
( (
( (
= =
( (
( (

(
(
=
(
(

Concept of State Variables
1 2 1 1 n m p
dx
f ( x , x ,.., x ;u ,....u ;d ,...d )
dt
=
0 Knowing theinitial state x( )and futureinputs u( t ),d( t ),
onecan predict the futurestates x( t ).
A
C
T
V
0 x( )
x( t )
Examples
exit
F h = o
h
i
F
i
F dh h
dt A A
o
=

1
1 A
F ,C
2
2 A
F ,C
exit
F h = o
A
h,C
1 1
1 2
1 2 A
A A A
F F dh h
dt A A
dC F F h
C C C
dt Ah Ah Ah
+ o
=

o
= +
i
i i A
F ,T ,C
exit A
F ,T ,C
V
A B
Exothermic

i
i exit
E
i A
RT
A A o A
E
RT
i r o A
i
p p
dV
F F
dt
F dC
( C C ) k e C
dt V
F ( H )k e C dT Q
( T T )
dt V c V c

=
=
A
= +

| |
| |
i
A
i
A i
x V C T
u F F Q
d C T
=
=
(
=

Steady-state analysis
1
1 1 2 1 1
1 2 1 1
0
0
n m p
n
n n m p
dx
f ( x , x ,.., x ;u ,....u ;d ,...d )
dt
....
dx
f ( x , x ,.., x ;u ,....u ;d ,...d )
dt
= =
= =
ss ss ss
x g( u ,d ) =
R G
Q or Q
T
Outputs
exit
F h = o
h
i
F dh h
dt A A
o
=

1 2 1 1
1 2 1 1
n m p
n m p
dx
f ( x , x ,.., x ;u ,....u ;d ,...d )
dt
y g( x , x ,.., x ;u ,....u ;d ,...d )
=
=
LINEARIZATION
x f ( x,u,d ) =
is linearized around an operating point (steady-state).

0
Deviation variable
ss ss
ss
ss
ss
df
x f ( x ) f ( x ) ( x x )
dx
But f ( x )
Let x x x :
(
= ~ +
(

=
=
Example: Assume just one state x and no inputs
x( t ) ax =
f(x)
Example: 1 input-1 state
2
dx
x u
dt
=
4
ss
u =
2
ss
x / = +
2
2
4
ss
ss
dx
x x u
dt
For x :
dx
x u
dt
=
=
=
2
2
4
ss
ss
dx
x x u
dt
For x :
dx
x u
dt
=
=
=
Multivariable case
1
1 1 2 1
1 2 1
0
0
n m
n
n n m
dx
f ( x , x ,.., x ;u ,....u )
dt
....
dx
f ( x , x ,.., x ;u ,....u )
dt
= =
= =
1 1
2 2
n m
x( t ) Ax Bu
x u
x u
x . u .
. .
x u
= +
( (
( (
( (
( (
= =
( (
( (
( (

f(x,u)
ss ss
f ( x ,u ) Ax Bu + +
1 1 1 1
1 1
1 1
ss
n n
n n
n
ss
n n
n
f f f f
. .
x x u u
A . . . B . . .
f f f f
x x u u
c c c c
( (
( (
c c c c
( (
= = ( (
( (
c c c c
( (
( ( c c c c

CSTR
i
E
A
RT
A A o A
E
RT
r o A
i
p p
dC F
( C C ) k e C
dt V
( H )k e C dT F Q
( T T )
dt V c V c

=
A
= +

3 0 1 0 0 5 0
2 1 0 1 0 0 5
i
A A
A
A
i
C . . C
C
Q
. .
T
T
T
x Ax Bu Dd
(
(
(
( ( (
(
= + +
(
(
( ( (

(
(



= + +
Linearized State Space Models with Outputs
x f ( x,u )
y g( x )
=
=
Dynamic Responses
0
0
t
At At
x( t ) e x( ) e Bu( t )dt y Cx = + =
}
Initial condition response + Input response
Initial condition response
Example:

2
2 0 10
2
10
t
dx
x x( )
dt
A
x( t ) e

= =
=
=
x
t
Matrix Exponential
At
e
| |
1
1
1 2
0
0 0
0 0
n
At t
t
i
t
n i
e Pe P
e .
. : Eigenvalues of A
e
P P P . P P : Eigenvectors of A
A

=
(
(
A =
(
(

=
Multivariable Example
1 1
2 2
5 2
1
3 3
0
1 4 1 5
3 3
x x
x( )
x x .

(
(
( ( (
= =
(
( ( (

(
(

1
2
1 2
1 2
0
3 3
1 1 1 1
0
3 3
t
t
e
P P
e

(
(
(
(
A = = =
(
(
(
(
(

2 2
1 2
2 5 2 5
3 3 3 6
t t t t
x ( t ) e e x ( t ) e e

= + = +
Phase Plane Analysis
1
x
2
x
1
0
1 5
x( )
.
(
=
(

Stability
x Ax Bu = +
Steady-state is asymptotically stable if and only if
Eigenvalues of A have negative real parts.
ss
x
ss
x
1
x
3
x
2
x
Feed rate
Heat
Temperature
Unstable
Reactor
Temperature
Unstable
FCC CSTR
Step Responses
P
R
O
C
E
S
S
1
u
2
u
m
u
step
constant
INPUTS OUTPUTS
1
y
2
y
n
y
1 At
y( t ) CA e I B

(
=