International Conference on Computing and Control Engineering (ICCCE 2012), 12 & 13 April, 2012

NONLINEAR IDENTIFICATION OF pH PROCESS BY USING NNARX MODEL

M.Rajalakshmi1*,G.Saravanakumar1,C.Karthik2
M.Tech , Assistant Professor 1, Research scholar 2, Control and Instrumentation Kalasalingam University, Tamilnadu rajemtech@gmail.com
1*

AbstractThis paper discusses the application of Neural Network Auto-Regressive model with eXogenous inputs (NNARX) in the area of identification of nonlinear dynamical systems. The main contribution of this paper is to identify suitable model and model structure of nonlinear dynamic system. In this paper Neural Network Auto-Regressive model with eXogenous inputs (NNARX) and ANFIS models are applied to identify highly nonlinear dynamic process and comparison was made between NNARX and ANFIS. The simulation results show that ANFIS is very effective to identify the nonlinear system. Index Terms - pH process, NNARX, ANFIS.

model for pH process is proposed by using an AutoRegressive eXternal (NNARX) Neural Network .This model is then compared with another proposed model Adaptive Neuro-Fuzzy Inference Systems (ANFIS). II.
PH PROCESS

I. INTRODUCTION

he pH process is a non-linear dynamic system and an extremely complex and challenging control problem in process industries (Kulkarni and Deshpande, 1991). A considerable amount of research has been carried out on modelling, identification and control of nonlinear processes. Most dynamical systems can be better represented by nonlinear models, which are able to describe the global behavior of the system over the whole operating range. To construct and estimate models on nonlinear dynamic systems are getting more complex in chemical process plants (Lennart Ljung 2006). As a result, an attention has been paid to identification of nonlinear dynamical systems. The behavior of most nonlinear dynamic systems has made the use of Artificial Neural Network (ANNs) for the identification task. The application of ANNs to modeling and control nonlinear processes has been intensively studied in recent years (Heba Al-Hiary et al, 2008).In addition all the numerous studies have shown that Multilayer Perceptron (MLP) Neural Networks are very good choice for nonlinear system identification(K. Narendra and K. Parthasarathy ,1990).Basically there are four types of basic learning rule: Competitive Learning (CL), Error Correlation Learning (ECL), Hebbian Learning (HL), and Boltzmann learning (BL)(A. K. Jain, J. Mao, and K. K. Mohiuddin,1996).Among all the training algorithms most popular choice is Back propagation (BP) which follows ECL rule. In this paper, the application of neural network model and Neuro fuzzy model to identify a pH process is discussed. pH process is a complicated non linear process, which has the characteristics of strong non linearity, time-variance, large time-delay, and multi- input (K.Valarmathi et al, 2009).A new

The pH process is very important in many industrial applications. It is important to appreciate the diverse nature of these pH control applications because a small amount of acid or base near the set point shows drastic change in pH gain and its characteristics(S R Navghare et al,2011). As shown in Fig. 1, acetic acid is fed to the reactor with a constant flow rate and sodium hydroxide is introduced to the reactor. The mathematical model of the pH neutralization process proposed by McAvoy et al. and reproduced below is used in this work to simulate the pH process. The pH variables used in this study are volume of the continuous stirred tank reactor (V), base flow rate of pH process ( ), acid flow rate and concentration of acid (Ca) and concentration of base (Cb).

Fa, Ca Fb, Cb Process Stream Titration Stream

Effluent Stream Fa + Fb, Xa + Xb Fig.1 pH process The above mathematical equations describe how the concentration of the acidic and basic components, and change dynamically with time subject to the input streams, and . The relationship can be described by a nonlinear equation known as the titration or characteristics curve. The titration curve varies two cases (1) a weak influent is neutralized by a strong reagent; (2) a strong influent is

ISBN 978-1-4675-2248-9 2012 Published by Coimbatore Institute of Information Technology

International Conference on Computing and Control Engineering (ICCCE 2012), 12 & 13 April, 2012 neutralized by a strong reagent. The word strong and weak is used to characterize the degree of ionic dissociation in an aqueous solution. Strong reagents completely dissociate into their hydrogen or hydroxyl ions whereas weak reagents are only partially ionized. Consider an acetic acid (weak acid) denoted by HAC being neutralized by a strong base NaOH (sodium hydroxide) in water. The reaction between HAC and NaOH:

Invoking the electro neutrality condition, the sum of the ionic charges in the solution must be zero. The [X] denotes the concentration of the X ion. The equilibrium relations also hold for water and acetic acid.

Where, Use of the equations (6) and (7) gives:

The system identification problem can be divided into following steps: First of all a suitable experiment is designed in such a way that the acquired data contain maximum information regarding the process. The collected data is subjected to some pre-processing techniques in order to remove the effect of undesired noise and imperfections. It improves the efficiency of the identification process. Then, a set of candidate models is obtained. After the model set is selected, the best model in this set is selected using some of the input-output data recorded previously. In this step, the model parameters are tuned so that the model output would fit the system output as much as possible. The quality of the model is based on a criterion chosen a priori. The next step is to verify the quality of the developed model. The quality assessment is done by comparing the model output to the original system output when both are fed with samples of the input-output data recorded previously or with the system in real operation situation If the model meets the chosen criteria which reflect the intended use of the model, the model is accepted, otherwise, it is rejected and another model is created. This procedure is repeated until a satisfactory model is created. IV. NEURAL NETWORK AUTO-REGRESSIVE MODEL WITH EXOGENOUS INPUTS (NNARX)

Let curve is given by,

and

.The titration

NNARX model structure: A linear dynamic system can be represented by,

Where, and is the dissociation constant of acetic acid at 5 ( -1.778x10& ). Equation (9), which is strictly static nonlinear relation between the states and and the output pH variable. III. BASIC SYSTEM IDENTIFICATION PROCEDURE System identification is the art and science of building mathematical model of dynamic systems from observed inputoutput data. The first step in the identification process is design a suitable experiment which best brings out the relationship among input, output and disturbances. This is to ensure that maximum information content is available in the data obtained (Ljung, 1999). Then the designed experiment is conducted and data are obtained. When the data are thoroughly analyzed one would get some idea about the appropriate model structure to be used. The next step is to check various candidate models which form a subset of the selected model structure.The system identification problem can be divided into a number of sub problems: Experimental design Data collection Model structure selection Model parameter Estimation Model validation

Where,

= Noise free output = Disturbance term q = Argument of = negative shift operator

The ARX model structure is given by,

Where the polynomials

and

are given by,

For estimating the nonlinear part of the ARX structure, the neural network can be utilized. Multilayer Perceptron (MLP) is one of the popular nonlinear neural network identification structures (M.Norgaard et al, 2000).The neural network version of ARX model structure is denoted as the Neural network ARX (NNARX).The general NNARX model structure is as shown in the following fig.2

ISBN 978-1-4675-2248-9 2012 Published by Coimbatore Institute of Information Technology

International Conference on Computing and Control Engineering (ICCCE 2012), 12 & 13 April, 2012

Neural Network

total of 7859 data samples are taken which describes the behavior of the pH process. The data set is then divided into 70/30 for training data for training the neural network and a testing data for the validation objectives. Figure 3 show the training and testing data set.
0.4

0.35

Training data

Validation data

0.3
Base Flowrate

Fig.2 General NNARX model Structure The NNARX model structure regression vector is given by equation 10,

0.25

0.2

0.15

0.1

As shown in Equation 10, the regression vector is formed with past values of the input and output of the system. In this case the predictor output is given by Equation 11.

0.05

1000

2000

3000

4000 5000 No of samples

6000

7000

8000

14 Training data 12 Validation data

In this paper, NNARX model structure was selected since it has few advantages over other structures. This model has an algebraic relationship between prediction and past data. The remaining models are containing a feedback from neural output to network input hence they are more complicated (M.Norgaard et al, 2000).To solve the problem of local minima, NNARX model was trained several times and initialization of weights get varied for the starting off each time. V. NEURO-FUZZY MODEL Neuro-Fuzzy system comes from a common framework called adaptive networks, which unifies both neural networks and fuzzy models. The fuzzy model under the framework of adaptive networks is called ANFIS (Adaptive Network based Fuzzy Inference System), which possess certain advantages over neural networks. ANFIS was proposed to predict the future actions of the process in an effort to formalize a systematic approach using the input-output data set (L.Ricker, 1995).ANFIS requires the antecedent membership functions and fuzzy rules to be defined prior to the training. Whenever the designated iteration number is reached or the training error goal is reached the checking data method is stopped which is employed for ANFIS training process. To prevent over fitting of the testing data set the checking data set uses the validation data which has same format as the training data. Over fitting can be detected when the difference between the output from checking FIS and the output data starts increasing while the training error is still decreasing till reaches a minimum value (Heba AI-Hiary et al, 2008). VI. RESULTS AND DISCUSSION The identification process was performed using Neural Network Based System Identification Toolbox version 6.0.A

10

pH

1000

2000

3000

4000 5000 No of samples

6000

7000

8000

Fig.3 Input and Output Response Here the NNARX model was applied for divided set data and it shows the modelling of second order nonlinear dynamic system. First we have to select a model structure inside which we wish to search for a good model. The model structure selection consists of two sub problems: choosing a regressor structure and choosing network architecture. As regressor we will use two past inputs and two past outputs (Fig.4). Furthermore we will choose network architecture with 5 hidden 'tanh' units and one linear output unit.

Fig.4 Network architecture for NNARX model

ISBN 978-1-4675-2248-9 2012 Published by Coimbatore Institute of Information Technology

International Conference on Computing and Control Engineering (ICCCE 2012), 12 & 13 April, 2012

Auto-correlation function of prediction error 1 0.5 0 -0.5 -1

5 10 15 20 lag Cross-correlation coef. of u1 and prediction error

25

to do an exhaustive search on all possible combinations of the input candidates. The function that performs exhaustive search is exhsrch, which selects 3 inputs from 10 candidates. However, exhsrch usually involves a significant amount of computation if all combinations are tried. For instance, if 3 is selected out of 10, the total number of ANFIS models is C (10, 3) = 120. Fortunately, for dynamical system identification, we do know that the inputs should not come from either of the following two sets of input candidates exclusively:

0.05

-0.05 -25 -20 -15 -10 -5 0 lag 5 10 15 20 25

Fig.5 Auto and cross correlation function of prediction error Now that a model structure has been selected, and ready to begin training. Figure 5 shows the auto-correlation and cross correlation function of prediction error.

By taking two inputs from Y and one from U to form the inputs to ANFIS. The total number of ANFIS models is then C (4, 2)*6=36, which is much less. An ANFIS prediction on both training data sets is shown in the following fig 7.
Training Data (Solid Line) and ANFIS Prediction (Dots) = 91.1029 14

12

10

1000

2000

3000 Time Index

4000

5000

6000

Fig.7 Training of ANFIS model response V. CONCLUSION In this paper, the application of Neural Network Auto-Regressive model with eXogenous inputs (NNARX) and ANFIS models are applied for pH process. From the results, it can be concluded that the ANFIS is the best performed model with fitness of 91.1 compared to NNARX model. Further work is needed to identify the suitable model structure more than ANFIS by using Support vector regressor (SVR) identification.

Fig.6 Validation of NNARX model response Levenberg-Marquardt algorithm is used for generating a NNARX model. The network has now been trained and validating the model on a fresh data set shown in the fig.6.The NNARX obtained 83.51 fitness. To use ANFIS for system identification, the first thing we need to do is select the input. That is, to determine which variables should be the input arguments to an ANFIS model. For simplicity, we suppose that there are 10 input candidates (y(k-1), y(k-2), y(k-3), y(k4), u(k-1), u(k-2), u(k-3), u(k-4), u(k-5), u(k-6)), and the output to be predicted is y(k). A heuristic approach to input selection is called sequential forward search, in which each input is selected sequentially to optimize the total squared error. This can be done by the function seqsrch. For input selection; another more computationally intensive approach is

ACKNOWLEDGMENT The authors wish to acknowledge partial support from Dr.K.Valarmathi/HOD, Department of Control and Instrumentation for providing Identification data of pH process. REFERENCES
[1] K. Narendra and K. Parthasarathy, Identification and control of dynamical systems using neural networks, IEEE Transactions onNeural Networks, vol. 1, pp. 427, 1990.

ISBN 978-1-4675-2248-9 2012 Published by Coimbatore Institute of Information Technology

International Conference on Computing and Control Engineering (ICCCE 2012), 12 & 13 April, 2012
[2] K. Valarmathi, D. Devaraj and T. K. Radhakrishnan. "Intelligent techniques for system Identification and controller tuning in ph process". Brazilian Journal of Chemical Engineering Vol. 26, No. 01, pp. 99 - 111, January - March, 2009 Lennart Ljung, System Identification - Theory for the User, 2nd Ed, PTR Prentice Hall, Upper Saddle River, N. J. (1999). MohdHezriFazalulRahiman, MohdNasirTaib, Ramli Adnan and YusofMd Salleh,"Analysis of Weight Decay Regularization in NNARX Nonlinear Identification", 5th International Colloquium on Signal Processing & Its Applications (CSPA), 2009. L.R. Medsker, L.C. Jain, Recurrent neural networks: design and applications, Boca Raton, FL: CRC Press, 2000. Alireza Karbasi, "Comparison of NNARX, ANN and ARIMA Techniques to Poultry Retail Price Forecasting", Thesis, University of Zabol, 2009. Heba Al-Hiary, Malik Braik, AlaaSheta, and Aladdin Ayesh, "Identification of A Chemical Process Reactor Using Soft Computing Techniques ", IEEE, 2008. M. Norgaard, Neural network based system identification toolbox, Department of Automation. Technical University of Denmark, 2000. M. Norgaard, O. Ravn, Poulsen, and L. K. Hansen, "Neural Networks for Modelling and Control of Dynamic Systems". Springer, London,2000. L.Ricker,http://depts.washington.edu/control/larry/te/download.html,Co mputers and Chemical Engineering, 1995. Magnus Nergaard, Ole Ram and NielsKjelstadPoulsen, "NNARX Tools for system identification and control with neural networks",Computing& Control Engineering Journal February 2001. A. K. Jain, J. Mao, and K. K. Mohiuddin, Artificial neural networks:A tutorial, IEEE Computer Special Issue on Neural Computing, pp. 31 44,1996. S R Navghare, Dr. G L Bodhe, Shruti,"Design of Adaptive pH Controller using ANFIS International Journal of Computer Applications (0975 8887) Volume 33 No.6, November 2011.

[3] [4]

[5] [6]

[7]

[8] [9]

[10] [11]

[12]

[13]

ISBN 978-1-4675-2248-9 2012 Published by Coimbatore Institute of Information Technology