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MULTI-LOOP CONTROL
TECHNIQUES
NOORLISA HARUN
Faculty of Chemical and Natural Resources Engineering,
University Malaysia Pahang.
PhD (University of Waterloo), MEng (UTM), BEng (UTM)
noorlisa@ump.edu.my, 09-5492885, 019-9708277
Page 3-1
MKK 1263
Control of Multi-Input, Multi-Output (MIMO)
Processes
can be manipulated
“Process interactions" between controlled and
manipulated variables – Each manipulated
can affect both controlled variables
Page 3-2
Chapter 3 MKK 1263
Page 3-3
Chapter 3 MKK 1263
Page 3-4
MKK 1263
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
Chapter 3
Definitions:
Page 3-5
MKK 1263 Multiloop Control Strategy
Typical industrial approach
Consists of using ‘n’ 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.
Chapter 3
Y1 ( s ) Y1 ( s )
GP11( s ), GP12 ( s )
Chapter 3
U1 ( s ) U 2 ( s)
Y2 ( s ) Y2 ( s )
GP 21( s ), GP 22 ( s)
U1 ( s ) U 2 (s)
Page 3-7
MKK 1263
Y1 ( s) U1 ( s)
Y ( s) , U ( s)
2
Y ( s ) 2
U ( s )
And Gp(s) is the transfer function matrix for the process
Page 3-8
Chapter 3 MKK 1263
Page 3-9
MKK 1263
CONTROL-LOOP INTERACTIONS
Example: 2 x 2 system
Control loop interactions are due to the presence
of a third feedback loop.
Page 3-10
MKK 1263
Page 3-11
Chapter 3 MKK 1263
Page 3-12
MKK 1263 PAIRING OF CONTROLLED AND MANIPULATED VARIABLES
Page 3-13
MKK 1263 Bristol’s Relative gain array Method
This method Provides two useful types of information:
1) Measure of process interactions
2) Recommendation about best pairing of
controlled and manipulated variables.
Requires knowledge of steady-state gains but not
Chapter 3
process dynamics.
RGA is given by
U1 U 2 Un
Y1 11 12 1n
Y2 21 22 2 n
Yn n1 n1 nn
Page 3-14
MKK 1263 Example of RGA Analysis: 2 x 2 system
where the relative gain, ij, relates the ith controlled variable and the
jth manipulated variable
Chapter 3
y Ku ………. (3)
Page 3-15
MKK 1263 Example of RGA Analysis: 2 x 2 system
y
From (2) K 1
………. (4)
u
11
1 u2
K 22
Substituting (5) into (2) gives
K 12 K 21
y1 K 111 u1 ………. (6)
K 11K 22
y1 K12 K 21
K111 ………. (7)
u1 y
2
K11K 22
Page 3-16
MKK 1263 Example of RGA Analysis: 2 x 2 system
11 12
………. (9)
21 22
Because each row and each column of RGA sums to one, the other
relative gains are easily calculated from 1 1 for the 2 x 2 case:
1 and
12 21 11 11 22
………. (10)
Page 3-17
MKK 1263 Example of RGA Analysis: 2 x 2 system
Thus RGA for a 2 x 2 system can be expressed as
1 ………. (11)
1
For higher dimension process, the RGA can be calculated from the
Chapter 3
expression
K H ………. (12)
Kij is the (i,j) element of K in Equation (3) and Hij is the (i,j) element of
H ( K 1 )T ; that is Hij is the element of the transpose of the matrix
inverse of K.
Page 3-18
MKK 1263
Scaling Properties:
i) ij is dimensionless
ii) ij ij 1.0
i j
Chapter 3
For 2 x 2 system,
1
11 , 12 1 11 21
K K
1 12 21
K11K 22
Examples:
Process Gain Relative Gain
Array, :
Chapter 3
Matrix, K :
K11 0 1 0
0 K
22
0 1
0 K12
0 1
K
21 0
1 0
K11 K12
0 K 1 0
0 1
22
K11 0
K
21 K 22
1 0
0 1
Page 3-20
MKK 1263
EXAMPLE: Hydrocracker
U1 U2 U3 U4
Chapter 3
Page 3-21
MKK 1263
EXAMPLE: Hydrocracker
U1 U2 U3 U4
Y1 0.931 0.150 0.080 0.164
Chapter 3
EXAMPLE:
K 11 K 12 2 1.5
K
K 22 1.5 2
Chapter 3
K 21
Recommended pairing is Y1
2.29 1.29
and U1, Y2 and U2.
1.29 2.29
EXAMPLE:
Y KU
Run R S xD xB
(lb/min) (lb/min)
1 125 22 0.97 0.04
2 150 22 0.95 0.05
Chapter 3
Page 2-29
MKK 1263
Singular Value Analysis
𝑲𝑻 𝑲 − 𝜶′ 𝑰 = 𝟎
Chapter 3
4. Condition number
• Assuming K is non singular. Condition number (CN) is the ratio
of the largest, σ1 and the smallest singular value, σr.
• If K is singular, then it is ill-conditioned, by convention CN=∞.
MKK 1263
EXERCISE 3
10 1
Calculate the determinant, RGA, eigenvalues and
singular values of K for K12 = 0 and K12 = 0.1.
MKK 1263
EXERCISE 4
10 1
(RGA) = 1.0
EXERCISE 5
A 3x3 process has the following steady-state gain matrix
3.38 5 0.953
𝐾 = 6.4 0.48 1.98
Chapter 3
Page 3-36