Program
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Module 5
Controllability
Analysis
PIECE
Paprican
PIECE
PIECE
cole
Polytechnique
de Montral
Universidad
Aut
Autnoma de
San Luis Potos
Potos
University of
Ottawa
Universidad de
Guanajuato
North Carolina
State
University
Instituto
Mexicano del
Petr
Petrleo
Program for North American Mobility in Higher Education
Texas A&M
University
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Module 5
This module was
by:
Stacey created
Woodruf
Universidad de
Guanajuato
University of
Ottawa
From
Host
University
Universidad de
Guanajuato
Carlos Carren
University of
Ottawa
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PIECE
Project Summary
Objectives
Create web-based modules to assist universities to
address the introduction to Process Integration into
Engineering curricula
Make these modules widely available in each of the
participating countries
Participating institutions
Six universities in three countries (Canada, Mexico
and the USA)
Two research institutes in different industry sectors:
petroleum (Mexico) and pulp and paper (Canada)
Each of the six universities has sponsored 7 exchange
students during the period of the grant subsidised in
part by each of the three countries governments
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Structure of Module 5
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Purpose of Module 5
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Tier I
Background Information
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Statement of Intent
Define Stability
Demonstrate simple methods for stability
analysis, mostly for Single-Input Single-Output
(SISO) systems
Understand interaction between control loops in
Multiple-Input Multiple-Output (MIMO) systems
Demonstrate the Relative Gain Array
Investigate controllability analysis for continuous
and discrete systems
Comprehend singular value decomposition (SVD)
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Stability
A dynamic system is stable if the system
output response is bounded for all bounded
inputs. A stable system will tend to return to
its equilibrium point following a disturbance.
Conversely, an unstable system will have
the tendency to move away from its
equilibrium point following a disturbance.
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A DISASTER!!!!!
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Example
The concept of stability is illustrated in the
following figure. The sphere in (a) is stable as it
will return to its original equilibrium after a small
disturbance whereas the sphere in (b) is unstable
as it moves away from its equilibrium point and
never comes back. The sphere in (c) is said to be
marginally stable.
(a)
(b)
(c)
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Quiz #1
Why is it important that a system
is stable?
List two examples of systems that
have become unstable.
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Y*(s) + (s)
-
GC (s)
U(s)
Ym(s)
G1(s)
G4 (s)
M(s)
G3 (s)
G2 (s)
+
+
Y(s)
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Gc G1G2
G3
Y(s) =
Y*(s) +
D(s)
1 + GOL
1 + GOL
Where
GOL = Gc G1G2G4
GOL is the open loop transfer function.
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For the moment, lets consider that there is only a change in set
point, therefore, the previous equation reduces to the closed loop
transfer function,
Y(s) =
Gc G1G2
1
Gc G1G2
Gc G1G2 (s)
Y*(s) =
=
1 + Gc G1G2G4
s 1 + Gc G1G2G4 s(s - r1 )(s - r2 )(s - r3 )...(s - rn )
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Imaginar
y Part
Imaginar
y Part
Real
Part
Real
Part
Negative real
root
time
time
Imaginar
y Part
Stable
Region
Stable
Region
Real
Part
Unstable
Region Rea
l
Part
time
time
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Routh Test
The Routh test (Routh stability criterion) is a very useful tool
in determining whether or not a closed-loop system is stable
provided the characteristic equation is available. The Routh
stability criterion is based on a characteristic equation that is
in the form
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Routh Array
When all coefficients are positive, a Routh Array must be
constructed as follows:
Row
The first two rows are
1
an
an -2 an -4
...
filled in using the
2
an -1 an -3 an -5
...
coefficients of the
characteristic
3
b1
b2
b3
...
equation. Subsequent
4
c1
c2
c3
...
rows are calculated as
M
M
M
M
M shown in the next
page.
n+1
The system is stable if ALL the elements in the first
column are positive!
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Routh Array
After the coefficients of the characteristic equation are
input in the array, the coefficients, b1, b2 bn and
subsequently c1cn should be calculated as follows and
input into the array.
Row
an -1an -2 - anan -3
b1 =
an -1
b2 =
an -1an -4 - anan -5
...
an -1
c1 =
b1an -3 - an -1b2
b1
b a - an -1b3
c 2 = 1 n -5
...
b1
1
2
3
4
M
n+1
an
an -1
b1
c1
M
an -2
an -3
b2
c2
M
an -4
an -5
b3
c3
M
...
...
...
...
M
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All roots with negative real parts) is that all elements of the
first column of the Routh Array must be positive and non
zero.
Routh Test Example 1- Consider the following characteristic equation:
Row
1(s3)
6.38
2.97
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1+K c
s + 4.583s + 6.38s +
=0
0.384
3
Row
1(s3)
2(s2)
3(s1)
6.38
4.583
(1+Kc)/0.384
29.24 - (1+K c )/0.384
4.583
29.24-(1-Kc)/0.384>0
<10.23
0
Kc
(Kc is
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1(s4)
11
120
2(s3)
36
3(s )
4(s1)
-108
5(s0)
120
120
0
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Cs2+D=
0
where the coefficients C and D are the elements of the
array in the (n-1)th row. These roots are also the roots of
the characteristic equation.
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2(s3)
12
3(s2)
4(s1)
4(s1)
5(s0)
d
(2 s 2 8) 4 s
ds
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Quiz #2
In what cases can the Routh test be used to
determine stability?
Is the system having the following characteristic
equation stable?
s4 + 7s3 + 6s2 + 1 = 0
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Frequency Response
One very useful method of determining system stability,
even when transportation lags exist, is Frequency
Response.
Frequency response is a method concerning the response
of a process or system to a sustained sinusoidal plot.
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2
(0.5s + 1)3
2K c
2
GOL = Gc G1G2G4 = (K c )(0.1)
(10) =
3
(0.5s+1)
(0.5s+1)3
Solution:
Kc
AROL for Kc
Stable?
0.25
Yes
Marginally
20
No
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Example 9.2 Find the amplitude ratio and the phase lag of the
following process for = 0.1 and 0.4.
U(s)
X(s)
1
5s + 1
First system:
1
AR =
=
2 2
+1
Second system:
AR = 1
1
(5)2 ( )2 + 1
; = - = -0.3
Third system:
G(j ) =
AR =
Z(s)
-0.3s
25( )2 + 1
1.2
s3 + 2.3s2 + 1.7s + 0.4
180
1.2
1.2
=
(j )3 + 2.3(j )2 + 1.7(j ) + 0.4
0.4 - 2.3 2 + 1.7 - 3 j
1.2
0.4 - 2.3
2
+ 1.7 -
Y(s)
; = tan
-1
- (1.7 - 3 )
2
0.4 - 2.3
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G(j) =
2
3
+ 1.7 -
1.2
1
2
25( ) + 1
0.4 - 2.3 2
-1
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Im
Re
180
=0.4
=0.1
270
0
3
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Quiz #3
Name two methods of determining stability
using frequency response.
What does an amplitude ratio (AR) of 1 signify?
An amplitude ratio of less than 1?
What does a value of Z=0 signify?
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FEED PUMPS
Air FuelGas
CRUDE OIL FEED
STORAGE TANKS
PIPESTILL
FRACTIONATOR
FURNAC E
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Gc1
m1
G11
y1
G12
G21
+
Gc2
m
2
G22
Loop 2
y2
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y *
y1m y1r
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Case 2 : 11=0
This condition indicates that m1 has no efect on y1,
therefore y1m will be zero in response to a change
in m1. Note that under these circumstances, m2 is
the perfect input variable for controlling y2, NOT y1.
Since m1 does not affect y1, y1 can be controlled
with m2 without any interaction with y1.
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Case 4 : 11>1
This is the condition where y1r is the opposite sign of y1m, but it is
smaller in absolute value. In this case y1* (y1r +y1m) is less than
the main effect y1m, and therefore a larger controller action m1 is
needed to achieve a given change in y1 in the closed loop than in
the open loop. For a very large and positive 11 the interaction
effect almost cancels out the main effect and closed-loop control of
y1 using m1 will be very difficult to achieve.
Case 5 : 11< 0
This is the case when y1r is not only opposite in sign, but
also larger in absolute value to y1m. The pairing of m1 with y1
in this case is not very desirable because the direction of the effect
of m1 on y1 in the open loop is opposite to the direction in the
closed loop. The consequences of using such a pairing could be
catastrophic.
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Quiz#4
What is a MIMO system?
What does 11=1 signify? If this is the case, is
m1 a good input variable to control y1?
If 11 is very large and positive, is m1 a good
input variable to control y1?
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ij
y i
all loops
m
j
open
y i
m
j
exceptfor
the mj loop
open-loopgain
ij
closed-loopgain
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11
21
n1
12
22
n 2
1n
2 n
nn
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PROPERTIES OF THE
RELATIVE GAIN ARRAY
i 1
ij
ij 1
j 1
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PROPERTIES OF THE
RELATIVE GAIN ARRAY
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PROPERTIES OF THE
RELATIVE GAIN ARRAY
K ij *
ij
K ij
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PROPERTIES OF THE
RELATIVE GAIN ARRAY
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1a
(Eq. )
1b
)
47.
y
Recall:
all loops
open
ij
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Due to the fact that the equations found on the previous slide
represent steady-state, open-loop conditions, the
differentiation for the numerator portion of the relative gain is:
y1
m1
K11
allloopsopen
The second partial derivative (the denominator) requires Loop 2
to be closed, so that in response to changes in m 1 , the second
control variable m2 can be used to restore y2 to its initial value
of 0. To obtain the second partial derivative, we first find from
Eq. 1b the value of the m2 must be to maintain y2=0 in the
face of changes in m1, what effect this will have on y1 is
deduced by substituting this value of m 2 into Equation 1a.
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m2
K 22
m1
K 12 K 21
y1 K 11 m1
m1
K 22
y1
m1
loop 2 closed
K 12 K 21
K 11 1
K 11 K 22
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11
K11
K12K21
K11 1
K11K22
1
11
1
where
K12K21
=
K11K22
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12 21
1
and
22
1
11
1
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1
1
1
1
Note, that if we define
1
11
1
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lim G ( s ) K
s 0
R K
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ij K ij rij
It is important to note that the equation above
indicates an element-by-element multiplication
of the corresponding elements of the two
matrices, K and R, DO NOT TAKE THE PRODUCT
OF THESE MATRICES!
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K 11
K
K 21
K 12
K 22
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K 22
K
21
K 12
K 11
R K
1 T
K 22
K
12
K 21
K 11
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K 11K 22
11=
K
K 11K 22
OR 11= K K - K K
11 22
12 21
K 11K 22
-K 21K 12
-K 12K 21
K
K 22K 11
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G(s)
16.7 s 1
6.6e 7 s
10.9 s 1
21.0s 1
19.4e 3 s
14.4s 1
K G ( 0)
6
.
6
19
.
4
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0.157 0.153
0
.
053
0
.
104
0.053
0.157
R (K )
0
.
153
0
.
104
1 T
2 1
1 2
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and the retaliatory effect from the other loops is not only in
opposition, but it is greater in absolute value to the main
effect of mj on yi. This is potentially dangerous because if the
other loops are opened, loop i could become very unstable.
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Quiz#5
What advantages does the Matrix Method have
over the First Principles Method?
What does with a value of 1 signify, and
should mj and yi be paired together?
What does with a value less than zero of
signify, and should mj and yi be paired together?
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0 0 1 0
0 0 0 1
This is known as the identity matrix, in which each row and
column only contains one non-zero element whose value is
unity (1). This ideal RGA is produced when the transfer
matrix G(s) has one of two forms, only a diagonal element,
or is in lower triangular from. The first situation indicates
that there is no interaction between the loops. The second
case indicates that there is a one-way interaction (which is
explained on the next slide).
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G ( s)
1
s 1
3
3s 1
0
4
4 s 1
yields an RGA
1 0
0
1
Note that since the element g 12(s) is zero, the input m2 does not
have an effect on the output y 1, however, the input m1 does
influence the output y2 as can be seen due to the fact that the g 21
element is nonzero. Upsets in Loop 1 requiring action by m 1 would
have to also be handled by the controller of Loop 2. So, even
though the RGA is ideal, Loop 2 would be at a disadvantage. Thus,
in deciding on loop pairing, one should distinguish between ideal
RGAs produced from diagonal or triangular transfer function
matrices.
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RULE #1
Pair input and output variables that have positive
RGA elements closest to 1.0.
Consider the following examples to demonstrate
this rule.
For a 2x2 system with output variables y 1 and y2, to be
paired with m1 and m2
0.8 0.2
If the RGA is
0.2 0.8
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1.5 0.5
0.5 1.5
a 1-1/2-2
1 2
pairing
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0.3 0.7
0.7 0.3
y1 should be paired with m2 and y2 should be paired with
m1, this is referred to as 1-2/2-1 pairing. (as the
elements 1-2,2-1 are closer to a value of 1 and all
elements in the RGA are positive.)
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1.95
0.66
0.29
0.65
1.88
0.23
0.3
0.22
1.52
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NIEDERLINSKI INDEX
Niederlinski Index
Pairing Rule #1 is usually sufficient in
most cases, it is often necessary to use
this rule in conjunction with the theorem
found on the next slide developed by
Niederlinski and later modified by
Grosdidier et al. This theorem is
especially useful if the system is 3x3 or
larger.
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NIEDERLINSKI INDEX
Consider the n x n multivariable system whose inputoutput variables have been paired y1-u1, y2-u2..yn-un,
resulting in a transfer function model of the form:
.
y(s)=G(s) u(s)
Let each element of G(s), gij(s) be,
1.Rational, and
2.Open-loop stable
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G ( 0)
n
g ii (0)
i 1
(Eq. N)
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NIEDERLINSKI INDEX
K 21
N 1 where defined as follows as
K 11K 22
seen on Slide 57
12
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NIEDERLINSKI INDEX
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RULE #2
Any loop pairing is
unacceptable if it leads to a
control system configuration
for which the Niederlinski
Index is negative.
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5
3
K = G(0) = 1
1
1
3
1
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10 4.5 4.5
4.5
1
4.5
4.5 4.5
1
The next step is to determine the RGA by multiplying the
elements of the K and R matrices.
R 4.5
4.5
4 .5 4 .5
3
4 .5
4.5
3
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5
K ii
3
i 1
n
1
3
5
1
27
3
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10 4.5 4.5
4.5 4.5
1
4.5
1
4.5
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K G ( 0) 1
1
1
1
3
1
1
3
1
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0.148
0
5/3
ii
i 1
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1 0.1
1
K G (0) 0.1 2
1
2 3
1
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K
3
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Quiz #6
What does a positive Niederlinski Index
indicate?
According to Rule 1, should elements be
paired on positive or negative elements?
In what case should a favourable pairing
from Rule 1 be discarded?
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F
FA
FB
Blending
G
C
Cx
Analyz
er
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FA FB F
FA
x
FA FB
Solution: Notice that for this system, the two output variables
are F and x, and the input variable are FA and FB, from now
on, we will refer to the input variables as m1 and m2 for the
input feeds of A and B respectively.
Therefore, our Overall Mass Balance becomes
F m1 m2
(Eq 1)
(which is linear)
m1
x
m1 m 2
(Eq 2)
(which is NON-
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m1
m1
m1
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m1
m2=
-m1
x*
m1
F=m1+ -m1
x*
or
m1
F=
x*
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m1 second loop x *
closed
x*
1/ x *
x * 1 x *
1 x * x *
Where x* is
the desired
mole fraction
of A in the
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3. When
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1.318e 2.5 s
20 s 1
G ( s)
0.0385(182 s 1)
( 27 s 1)(10 s 1)(6.5s 1)
e 4 s
3s
0.36
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1
I
s
I
1.318
K lim lim
3
s 0
I
0.038 0.36I
lim
0.038 x 0.333I
1
1.138 x 0.36I
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=0.97
Therefore the resulting RGA is
0.97 0.03
0.03 0.97
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Underdefined Systems
n outputs
m inputs
m<n
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Underdefined Systems
The main issue with underdefined systems is that
not all outputs can be controlled, since we do not
have enough input variables.
The loop pairing is easier if we make the following
consideration
By economic considerations, or other such means,
decide which m of the n output variables are the
most important, these m output variables should
be paired with the m input variables; the less
important (n-m) output variables will not be
under any control.
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Overdefined Systems
B4
m inputs
outpu
ts
m>n
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Overdefined Systems
Deciding the loop pairing of overdefined systems presents
a real challenge. In this case, there is an excess of input
variables, therefore we can achieve arbitrary control of
the fewer output variables in more than one way.
The situation we are faced with is as follows: since there
are m input variables to control n output variable (m>n),
there are many more input variables to choose from in
pairing the inputs and the outputs, and therefore, there
m
will be several different square subsystems from which
n
the pairing is possible. There are
possible square
m
m!
subsystems.
=
(m-n)!
Recall
that:
n!
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k1 j
y1 j
m j
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kij
yij
m j
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Quiz#7
What system information is needed to construct
the RGA?
What is the difference between a underdefined
and overdefined system?
What is a difficulty in overdefined systems?
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( 2 ) K * 1.0
ci
K ci
K ci * 1.0
2
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DESIGN OF MULTIVARIABLE
CONTROLLERS-Introduction
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yd
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gc1
v1
u1
+
+
g11
y1
+
+
gI1
g12
Please consider the following
system:
g21
gI2
yd
2
2
gc1
v2
u2
Figure 1-D
g22
y2
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The controller
transfer
function multiplied by
the difference in the
set point of yi(ydi) and
the actual yi output
ui=gci(ydi-yi)
OR
ui=gcii
The
difference
between the
desired yi and
the actual yi
output.
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un=fn(1, 2 , n)
The design problem is to find the f1(.),f2(.)fn(.) so that
each of the output variable errors is driven to zero.
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DECOUPLING
INTRODUCTION
Decoupling:
u1=gc11+gI1 (gc22)
u2=gc22+gI2 (gc11)
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Decoupling Introduction
We know from our discussion of input/output pairing that
the pairing of y1-u1, y2-u2,yn-un couplings are desirable; it
is however the yi-uj cross-couplings, by which yi is
influenced by uj (for all i and all j with ij), that are
undesirable: they are responsible for the control loop
interactions.
It is clear that any technique that eliminates the
undesired cross-coupling will improve the performance of
control systems. It is however NOT possible to ELIMINATE
the cross-couplings; that is a physical impossibility since it
will require altering the physical nature of the system.
Consider an example of this on the following slide.
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Cold flow
rate
Hot flow rate
PIECE
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yd
PIECE
+
-
Gc
Single
Loop
Controller
GI
Interaction
Compensati
on
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SIMPLIFIED DECOUPLING
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SIMPLIFIED DECOUPLING
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Which Yields
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g g
y1= g11- 12 21 v1
g22
g12g21
y2= g22 v2
g11
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yd2 +
-
gc1
gc
2
v1
g12g21
g11g22
v2
g g
g22 - 12 21
g11
y1
y2
NAMP
PIECE
K K
y1= K 11 - 12 21 v1
K 22
K 12K 21
y2= K 22 v2
K 11
K
y2= 22 v2
1
K 12K 21
1
K 11K 22
NAMP
PIECE
NAMP
yd1
PIECE
gc1
v1
u1
gI12
yd3
gc3
gI23
gI31
g31
v2
gc2
u3 u2 u1
g21
g22
g23
gI21
u2
v3
gI32
+
+
g12
g13
gI13
yd2
g11
u3
g32
g33
y1
+
+
+
+
y2
+
+
y3
NAMP
PIECE
GENERALIZED
DECOUPLING
Generalized Decoupling
Please refer to Figure 1-D which we will use this figure to
outline a more generalized procedure for decoupler
design.
yd
gc1
v1
gI1
u1
gc1
v2
g12
gI2
yd
g11
g21
+
u2
g22
y2
NAMP
PIECE
GENERALIZED
DECOUPLING
u=GIv
So that:
y=GGIv
NAMP
PIECE
GENERALIZED
DECOUPLING
GGI=GR(s)
And the compensated input/output relation becomes:
y=GR(s)v
Where GR represents the equivalent diagonal process that
the diagonal controllers GC are required to control.
NAMP
PIECE
GI=G-1 GR
4. The compensator obtained depends on what GR is
selected. The elements of GR should be chosen to
provide the desired decoupled behaviour with the
simplest possible decoupler. A common choice for G R is:
GR=Diag[G(s)]
Ie. The diagonal elements of G(s) are retained as the
elements of the diagonal matrix GR, however, other
choices have been used.
NAMP
PIECE
GI =
gI 2
gI1
GI = gI 21
gI 31
gI 32
gI 23
NAMP
PIECE
Quiz #8
What is the main objective of decoupling?
What is a downfall of simple decoupling?
Is it often easy to achieve perfect decoupling?
NAMP
PIECE
LIMITATIONS OF
DECOUPLING
NAMP
PIECE
LIMITATIONS OF
DECOUPLING
NAMP
PIECE
LIMITATIONS OF
DECOUPLING
Gm=GD
Where D is a
diagonal matrix
of time delays
ed11s
ed22s
D(s)=
O
0
dnns
NAMP
PIECE
LIMITATIONS OF
DECOUPLING
+
yd
Gc
Single
Loop
Controller
s
GI
Decoupler
D
Delay
s
G
Process
NAMP
PIECE
LIMITATIONS OF
DECOUPLING
NAMP
PIECE
PARTIAL
DECOUPLING
Partial Decoupling
If some loop interactions are weak or if some of the loops
do not need to achieve high performance, the partial
decoupling is a method one should consider. If this is the
case, only a subset of the control loops where the
interactions are important and high performance is
important are focused on.
Typically partial decoupling is considered for 3x3 or higher
dimension systems. The main advantage is the reduction of
dimensionality. Partial decoupling is also applicable to 2x2
systems, in this case, one of the compensator blocks is set
to zero for the loop that is to be excluded from decoupling.
NAMP
PIECE
STEADY-STATE
DECOUPLING
Steady-State Decoupling
The difference between dynamic decoupling and steadystate decoupling is that dynamic decoupling uses the
complete, dynamic version of each transfer function
element to obtain the decoupler, and steady-state
decoupling only uses the steady-state gain portion of each
of the transfer elements.
Therefore, if each transfer function element gij(s), has a
steady-state gain term Kij, and if the gain matrix is defined
as K, the steady-state decoupling results in the same way
as it did for a 2x2 system that we discussed earlier.
NAMP
PIECE
STEADY-STATE
DECOUPLING FOR A 2X2
SYSTEM
Here:
K12
gI1 =K11
and
K21
gI 2 = K22
NAMP
PIECE
STEADY-STATE
DECOUPLING FOR A 2X2
SYSTEM
GI =K KR
Where KR is the steady-state version of GR(s). The
inversion indicated is a matrix of numbers, and
therefore, the inversion will always be realizable and
easily implemented.
The main advantages of steady-state decoupling are that
the design involves simple numerical computations
and that the resulting decouplers are always realizable.
NAMP
PIECE
Quiz #9
What 2 conditions must a system satisfy to
achieve perfect dynamic decoupling?
What is the main advantage of partialdecoupling?
Why is steady-state decoupling a favorable
method if applicable?
NAMP
PIECE
SINGULAR VALUE
DECOMPOSITION
WTAV=
Here is the m x n matrix described below:
s 0
0 0
where
1 0 0
0
0
2
s
L L L
0 0 0
L
L
L
L
0
0
L
NAMP
PIECE
SINGULAR VALUE
DECOMPOSITION
W is the m x m matrix
W= w1 Mw2 M
L Mwm
Whose columns wi, i=1,2,,m are called the left singular
vectors of A; these are normalized (orthonormal)
eigenvectors of AAT.
V is the n x n matrix:
V= v1 Mv2 M
L Mvn
NAMP
PIECE
SINGULAR VALUE
DECOMPOSITION
WTW=I=WWT
So that
Also
So that
W-1=WT
VTV=I=V VT
V-1=VT
NAMP
PIECE
SINGULAR VALUE
DECOMPOSITION
A=W VT
Analogously to the eigenvalue/eigenvector expression for
square matrices, we have the more general pair of
expressions
Avi= iwi
ATiwi= ivi
NAMP
PIECE
SINGULAR VALUE
DECOMPOSITION
1
( A)
p
This gives the most reliable indication of how close
A is to being singular. Note that for a singular
matrix, (A)=, thus nearness to singularity is
indicated by excessively large (but finite) values
for (A)
NAMP
PIECE
SINGULAR VALUE
DECOMPOSITION EXAMPLE
1 2
A 2 1
2 1
Therefore,
9 2
A A=
2 6
T
NAMP
PIECE
SINGULAR VALUE
DECOMPOSITION EXAMPLE
10
0
0
NAMP
PIECE
SINGULAR VALUE
DECOMPOSITION EXAMPLE
NAMP
PIECE
SINGULAR VALUE
DECOMPOSITION EXAMPLE
v2 =
2
5
Therefore:
v=
1
5
2
NAMP
PIECE
SINGULAR VALUE
DECOMPOSITION EXAMPLE
5
5
1
2
5
5
VT =
NAMP
PIECE
SINGULAR VALUE
DECOMPOSITION EXAMPLE
5 0 0
T
AA 0 5 5
0 5 5
NAMP
PIECE
SINGULAR VALUE
DECOMPOSITION EXAMPLE
NAMP
PIECE
SINGULAR VALUE
DECOMPOSITION EXAMPLE
w1 =
2
1
w2 = 0
w3 =
2
1
NAMP
PIECE
SINGULAR VALUE
DECOMPOSITION EXAMPLE
W =
2
1
1
0
0
2
1
NAMP
PIECE
STEADY-STATE DECOUPLING BY
SINGULAR VALUE
DECOMPOSITION
y= W VT u
NAMP
PIECE
STEADY-STATE DECOUPLING BY
SINGULAR VALUE
DECOMPOSITION
WTy= VT u
Recall that when the matrix K is a square matrix is a
diagonal matrix of singular values. This allows us to
define a new output variables and new input
variables where:
= WTy
And
= VT u
NAMP
PIECE
STEADY-STATE DECOUPLING BY
SINGULAR VALUE
DECOMPOSITION
yd
WT
d +
Gc
WT
NAMP
PIECE
STEADY-STATE DECOUPLING BY
SINGULAR VALUE
DECOMPOSITION
NAMP
PIECE
REFERENCES
References:
Ogunnaike,B.,Ray,W. Process Dynamics,
Modeling, and Control. Oxford University Press,
New York (1994)
Seborg, D., et al. Process Dynamics and Control.
John Wiley & Sons, Inc, United States of America
(2004)
Thibault, Jules. Courses Notes, CHG 3335: Process
Control. University of Ottawa, Ottawa (July 2004)