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Fig.1
Fig.2
Fig.3
1
Fig.4
One may notice that there are two transmission paths from m1 to x1 .let us define a
relative gain from m1 to x1 .as:
Gain m1 − x1 , loop 2 open
λ=
Gain m1 − x1 , loop 2 close
When λ = 0.5 , the responses of x1 to a unit step input at m1 is shown in Fig. 5
Fig.5
In this case, when loop 2 is closed, the open loop gain of m1 − x1 becomes doubled.
The increase in the loop gain results in more oscillation in the closed loop response as
shown.
On the other hand, when λ = 2 , the open loop and closed loop responses are also
2
given in Fig. 6.
In this latter case, the open-loop gain decrease when loop 2 is switched from open to
close. As a result, the close of loop 1 leads the system to a more sluggish response to
the r1 input.
The increase or decrease of the loop gain is a result of closing loop2, and , hence, is
considered loop interaction. From the above example, λ is a measure of such
interaction and is named as relative gain of loop 1. You may also find the other
relative gain for loop2. But, in this case, the two relative gains will be equal.
1. ∑g
j
ij g ji = ∑ λ
j
ij = 1, ∀i
3
x 0 0...0
x x 0...0
G −1 =G =
....
x x x... x
Thus, g ij g ji = 0 = λ ij, ∀j ≠ i
and, g ii g ii = 1 = λ ii , ∀j = i
So, Λ =I
dg ji dg ij
5. = −λ ij
g ji g ij
dg ji dg ij dg ij
= − g ji dg ij = − g ji g ij = −λ ij
g ji g ij g ij
dλ dg ij dλ λ ij − 1 dg ij
= (1 − λ ij ) =
ij ij
5. , and
λ ij g ij λ ij λ ij g ij
[Proof];
λ ij = g ij g ji ⇒ dλ ij = dg ij g ji + g ij dg ji
dλ dg ij g ji + g ij dg ji dg ij dg ji dg ij
⇒ = = +( ) = (1 − λ ij )
ij
λ ij g ij g ji g ij g ji g ij
or,
dλ dg ij dg ji 1 dg ij λ ij − 1 dg ij
⇒ = + = (1 − =
ij
g g
)
λ ij ij ji λ ij g ij λ ij g ij
4
RGA-implications:
4. Plants with large RGA-elements are always ill-conditioned. (i.e., a plant with a
large γ(G) may have small RGA-elements)
5. Plants with large RGA-elements around the crossover frequency are fundamentally
difficult to control because of sensitivity to input uncertainties.
-----decouplers or other inverse-based controllers should not be used for plants
with large RGA-elements.
5
The Relative Disturbance Gain (RDG)
y1 = k11m1 + k12 m2 + k F 1d
y2 = k21m1 + k22 m2 + k F 2 d
∂m1 k
∂d = − F1
y1 , m2 k11
1
m2 = [ −k21m1 − k F 2 d ] (3)
k22
Substitute Eq.(3) into E.(2), we have:
Thus,
k12 k F 2
−kF1 + (4)
∂m1 k22 k k − k F 1k22
∂d = = 12 F 2
y1 , y2 k k k11k22 − k12 k21
k11 − 12 21
k22
6
So,
∂m1
∂d
y1 , y2 k k k − k F 1k22 k11 k22 k12 k F 2 − k F 1k22 (5)
β1 = = − 11 × 12 F 2 = ×
∂m1 k F 1 k11k22 − k12 k21 k F 1k22 k11k22 − k12 k21
∂d
y1 , m2
k12 k F 2 − k F 1k22 k11k22 k k
=- × = 1 − 12 F 2 λ
k F 1k22 k11k22 − k12 k21 k F 1k22
Similarly, we have:
∂m1
∂d
y1 , y2 k21k F 1
β1 = = 1 − λ
∂m1 k k
F 2 11
∂d
y1 , m2
k F 2 k12 β λ − β1 k F 2 λ − β1 k22
= 1− 1 = ⇒ = ×
k F 1k22 λ λ kF1 λ k12
k F 1 λ − β 2 k11
Similarly, ⇒ = ×
kF 2 λ k21
λ − β2 λ − β1 k11 k22 1
⇒ λ λ = k k = 1− λ
21 12
or,
( β1 − λ )( β 2 − λ ) = λ (λ − 1)
λ (λ − 1) λ (λ − 1) ( β − 1) λ 1 − β1
( β2 − λ ) = ⇒ β2 = +λ = 1 = λ
( β1 − λ ) ( β1 − λ ) ( β1 − λ ) λ − β1
It can be shown that:
7
Multi-loop e1 area
∝ β1 and
SISO idealy decoupled e1 area
Multi-loop e 2 area
∝ β2
SISO idealy decoupled e 2 area
Thus,
8
∞
∫ e dt 1
τ R1 kc' 1 k F 2 k12 τ R1 kc' 1
0
=− × − 1 λ = × β1 = f1 β1
∞
τ R' 1 kc1 k F 1k22 τ R' 1 kc1
∫ e dt
o
1
0
Similarly, we have:
∞
∫ e dt 2
τ R 2 kc' 2
0
= × β2 = f2 β2
∞
τ R' 2 kc 2
∫ e dt
o
2
0
Notice that the PI parameters in the interacting loops are used to be more conservative
than those in single loops. In another words,
f1 ≥ 1; f2 ≥ 1
The multi-loop control should be beneficial when the sum of absolute values of the
Remarks:
1. If λ is assumed not vary with frequency, and the process under study is FOPDT,
λ>1, f1 lies in the range 1< f1 <2, while 0.5<l<1, f1 lies in the range 1< f1 <3.
2. When f1 =1, β is equal to the ratio of response areas.
3. If β is small and f1 =is close to one, then the interacting control is favored for that
particular disturbance.
4. If β is large, the interacting control is un favorable for that particular disturbance.
G + ( s) = ( GT G ) GT ( s)
−1
Then, under close-loop control, the steady-state control input will be:
∂ui +
u = G + (0) y d and = gij (0) .
∂y
j CL
Thus, the non-square relative gain is defined similarly to the square RGA, that is:
9
−1
∂y ∂yi + T
Λ% = i = G (0) ⊗ G (0)
∂u
j OL ∂u j CL
T
n n n
CS = [ cs (1), cs (2), L , cs (n)] = ∑ λ% j1 , ∑ λ% j 2 , L , ∑ λ% jn , = [1, 1, L, 1]
T
2. j =1 j =1 j =1
3. 0 ≤ rs(i) ≤ 1, ∀i = 1, 2,L, m
m n
4. ∑ rs(i) = ∑ cs(i) = n
i =1 j =1
m m n n m n
Note: ∑ rs(i) = ∑∑ λ% = ∑∑ λ% = ∑ cs ( j ) = n
i =1 i =1 j =1
ij
j =1 i =1
ij
j =1
5. Non-square RGA is invariant under input scaling, but is variant under output
scaling:
( GS ) ⊗ (GS )+ = (G ⊗ G+ ) ( SG ) ⊗ ( SG )+ ≠ (G ⊗ G+ )
T T T T
A. Multi-loop BLT-Tuning:
I. BLT-1 method:
kc ,i = k ZN ,i / F ; τ R ,i = (τ R ,i )ZN F
10
d. Calculate the closed-loop function Lc(iω):
W( iω )
Lc (iω ) = 20 log
1 + W( iω )
e. Calculate the detuning factor F until the peak in the Lc log modulus curve is
equal to 2N, that is:
W( iω )
Lcm = Max 20 log = 2N
ω
1 + W( iω )
II. BLT-2
τ D, j =
(τ )
D , j ZN
FD
III. BLT-3
1
t
u j = u j (0) + kC , j e j +
∫
τ R, j 0
e j dt ;
u j (0) = 0
At steady state,
11
∞
kC , j
lim u j (t ) =
t →∞ τ R, j ∫ e (t )dt
0
j
So,
∞
τ R , j u j (∞)
∫ e (t )dt =
0
j
kC , j
Notice that:
u (∞) = G −1 (0) R − G −1GL (0) d (∞)
u j (∞)τ R , j
ITE j =
kC , j
Let,
N ITE j
Sj = ∑ + ITE j −load
i =1 N
τ R, j N g j ,i (0)
Sj = × ∑ + g j ,i (0) g L,i (0)
kC , j i =1 N
Smax
Fj = F
Sj
kc ,i = kZN ,i / Fj ; τ R ,i = (τ R ,i ) ZN Fj
IV. BLT-4
12
a. BLT-3 is used to get individual PI controllers as described above.
b. BLT-2 procedure is used with individual FD factors for each loop:
S max
FD , j = FD
Sj
X ( iω ) = ([ I + GGC ]−1 GL L )
( iω )
VI. Summary
BLT-3---PI, BLT-4-----PID,
unequal Fi unequal Fi
TITO Processes
This method is based on A modified Z-N method for SISO control system. To derive
this modified Z-N method, ageneral formulation is to start with a given point of the
Nyquist curve of the process:
j ( −π +ϕ p )
G p ( jω ) = rp e (1)
13
1
GR ( jω ) = k 1 + j ωτ D − (2)
jτ Rω
rs
rR = and ϕ R = ϕ s − ϕ p
rp
In other words,
1 j (ϕ R )
GR ( jω ) = k 1 + j ωτ D − = rR e = rR cos ϕ R + jrR sin ϕ R
jτ Rω
Or,
1
k = rR cos ϕ R =
rs
rp
(
cos ϕ s − ϕ p ) and ωτ D − (
= tan ϕ s − ϕ p
τ Rω
)
The gain is uniquely determined. Only one equation determines τ R and τ D .
0.413 g (0)
α= , where κ =
3.302κ + 1 g ( jωc )
1
From ωτ D −
τ ω
−1
( )
= tan ϕ s − ϕ p , τ D can be solved to obtain:
R
1
τD = − tan(ϕ s − ϕ p ) + 4α + tan 2 (ϕ s − ϕ p ) and
2ω
1
τR = τD
α
14
y1 ( s) g11 ( s) g12 ( s ) u1 ( s )
y ( s ) = g ( s ) g ( s ) u ( s )
2 21 22 2
c1 ( s ) c1 ( s ) 0
c ( s ) = 0 c2 ( s)
2
c2 g12 g 21 g g
g1 = g11 − = g11 − −112 21
1 + c2 g 22 c2 + g 22
g12 g 21
g 2 = g 22 −
c1−1 + g11
Let
1
ci ( jω ) = k 1 + j ωτ Di + ; i = 1, 2
jτ Riω
ci ( jω ) = kci (1 − j tan(ϕbi − ϕ ai ) ) ; i = 1, 2
15
rai e j ( −π +ϕia ) ⋅ kci (1 − j tan(ϕbi − ϕai )) = rbi e j ( −π +ϕia )
⇓
rbi j (ϕai −ϕbi ) rbi r
e = cos(ϕai − ϕbi ) + j bi sin(ϕai − ϕbi ) = kci (1 − j tan(ϕbi − ϕ ai ))
rai rai rai
⇓
rbi
kci = cos(ϕai − ϕbi )
rai
rbi
kci ⋅ gi ( jω ) = cos(ϕ ai − ϕbi ) ⋅ rai e j ( −π +ϕia ) = rbi cos(ϕ ai − ϕbi ) ⋅ e j ( −π +ϕia )
rai
By setting i equal one and two, one will obtain two equations with kc1 and kc2 as
unknowns, and, thus, can be solved. But, there are very tedious procedures to find the
controller gains (such as:such kc1 and kc2) and frequency ω11 and ω22 that satisfy the
phase criteria. (see the reference: I&EC Res. 1998, 37, 4725-4733, Q-G Wang, T-H
Lee, and Y. Zhang)
16
f1 [(g11) -]-1
_
G
_ f2 [(g22)-]-1
g11 _
g22 _
GC ,i = ( Gi ,i )− f i ; i = 1,..., n
−1
The stability is guaranteed for any stable IMC filter that satisfies either of the
following:
g i ,i (iω )
f i (iω ) < f R*,i (iω ) = ; i = 1, 2,..., n
∑
j , j ≠i
gi , j (iω )
g i ,i (iω )
f i (iω ) < f C*,i (iω ) = ; i = 1, 2,..., n
∑
j , j ≠i
g j ,i (iω )
1
∑
j , j ≠i
g i , j (iω )
Ri (iω ) = = ; 0 ≤ω ≤ ∞
1 + f R*,i (iω ) ∑g j
i, j (iω )
1
∑
j , j ≠i
g j ,i (iω )
Ci (iω ) = = ; 0 ≤ω ≤ ∞
1 + fC*,i (iω ) ∑g
j
j ,i (iω )
17
For small interaction: 0.0 ≤ Ri , Ci ≤ 0.5 ⇒ f * >1
1
Controller: u ( s ) = kC − y ( s ) + [r ( s ) − y ( s)] − τ D sy ( s)
τ Rs
y k /(τ s )G p
= C R
r 1 + kC /(τ R s )G p
18
y 1 − Ls
=
r τ Rτ τ
− τ R L s2 + R + τ R − L s + 1
kC k P kC k P
1 − Ls
≈
τ C s + 1.414τ C s + 1
2 2
1 −τ C2 + 1.414τ Cτ + Lτ
⇒ kC = ;
k P τ C2 + 1.414τ Cτ + L2
−τ C2 + 1.414τ Cτ + Lτ
⇒ τR =
τ +L
1 − 0.5 Ls
e − Ls ≈
1 + 0.5 Ls
19
20
21
2. Controllers for multi-loop system
y k k g1,1
At ω → 0 ; = g1,1 1 − 1,2 2,1 =
u1 loop 2 closed k1,1k2,2 RGA(λ )
y
At ω → ∞ ; = g1,1
u1 loop 2 closed
(τ )
R ,i based on main loop
τ R ,i =
RGA(λi ,i )
The final pairing and the controller tuning is checked for robustness by
plotting DSO and DSI as functions of frequency, [Doyle and Stein]. The
singular values below 0.3-0.2 indicate a lack of stability robustness.
DSO(iω ) = σ [ I + ( GGC ) ]( iω )
−1
DSI ( iω ) = σ [ I + ( GC G ) ]( iω )
−1
22
E. Design Method based on Passivity
Fo
h Outlet Flowrate
23
Passive(Willems 1972): if a non-negative storage function S(x) can be found s.t.:
t
S(0)=0 and S ( x) − S ( x 0 ) ≤ ∫ yT (τ )u (τ )dτ for all t>t0≥0, x0, x∈ X, u∈ U.
t0
t
Strictly passive: if S ( x) − S ( x 0 ) < ∫ yT (τ )u (τ )dτ
t0
KYP Lemma
Nonlinear control affine systems (Hill & Moylan 1976)
x& = f ( x) + g ( x)u
y = h( x )
where x ∈ X ⊂ R n , u ∈ U ⊂ R m , y ∈ Y ⊂ R m
The process is passive if
∂S T ( x )
Lf S ( x) = f ( x ) ≤ 0,
∂x
∂S T ( x )
Lg S ( x ) = g ( x ) = hT ( x )
∂x
KYP Lemma
A linear system (Willems 1972) G(s):=(A,B,C,D) is passive if there exists a
positive definite matrix P such that:
AT P + PA PB − C T
T ≤0
B P − C − D − D
T
AT P + PA PB − C T
T <0
B P − C − D − D
T
Definition:
An LTI system S: G(s) is passive if :
(1) G(s) is analytic in Re(s)>0;
(2) G(jw)+G*(jw)≥0 for all that jw is not a pole of G(s);
(3) If there are poles of G(s) on the imaginary axis, they are non-repeated and the
residue matrices at the poles are Hermitian and positive semi-definite.
G(s) is strictly passive if:
(1) G(s) is analytic in Re(s) ≥ 0;
(2) G(jw)+G*(jw)>0 ∀ω ∈ ( −∞, ∞) .
24
Theorem 1: For a given stable non-passive process with a transfer function matrix
G(s), there exists a diagonal, stable, and passive transfer function matrix
W(s)=w(s)I such that H(s)=G(s)+W(s) is passive.
[Proof]:
λmin ( H ( jω ) + H * ( jω )) = λmin (G ( jω ) + G* ( jω ) + (W ( jω ) + W * ( jω ))
Since both (G+G*) and (W+W*) are Hermitian, from the Weyl inequality, we
have:
Thus, if:
1
Re(W ( jω )) ≥ λmin (G ( jω ) + G* ( jω ))
2
H(s) can be render passive. On the other hand, if
1
Re(W ( jω )) > λmin (G ( jω ) + G* ( jω ))
2
H(s) will be strictly passive.
Passivity Theorem :
25
(including multi-loop PID controllers) even if it is highly nonlinear and/or
highly coupled
Control design based on passivity
Excess or shortage of passivity of a process can be used to analyse whether
this process can be easily controlled
Passivity based controllability study
Gff Gfb
G G
Passivity Index
The excessive IFP of a system G(s) can be quantified by a frequency dependent
26
passivity index
∆
1
ν F [G ( s ), ω ]=λmin [G ( jω ) + G *( jω )]
2
Assume the true process is GT ( s ) = G ( s ) + ∆( s)
The passivity index of the true process can be estimated as
1 1
ν (GT ( jω )) = −λmin ∆( jω ) + ∆* ( jω ) + G ( jω ) + G* ( jω )
2 2
1 1
≤ −λmin ∆( jω ) + ∆* ( jω ) − −λmin G ( jω ) + G* ( jω )
2 2
=ν (G ( jω )) +ν (∆ ( jω ))
j
Maximum gain
Passivity index
σ
∆(σ)
27
Passivity Theorem 2: If the multivariable process is strictly passive, then the
closed-loop system is stable if the multi-loop controller is passive.
ν (W ( jω )) < −ν (G + ( jω ))
−1
K ' ( s ) = U −1K ( s) I − w( s )U −1K ( s)
Notice that the above figure is equivalent to the one in the following:
ν ( D −1G + D ( jω )) < ν (G + ( jω ))
and
28
+
D −1G + (0) D + D −1 G + (0) D > 0
Design procedures:
2. Check the pairing. Examine the proposed pairing using DIC condition:
T
G + (0) M + M G + (0) > 0
min(−γ i )
kci ,τ Ri
such that
1 γi
<1
1 jω
1 + Gii+ ( jω )kc+,i 1 +
jτ R,iω
and
kc+,iν s (ω )
τ R2 ,i ≥ , ∀ω ∈ R, i = 1,L , n
1 − kc+,iν s (ω ) ω 2
29
ν F (∆( s ), ω ) ≥ −ν F (W ( s ), ω ), ∀ω ∈ R
If the uncertainty is passive, then the controller is only required to render system T
strictly passive to achieve robust stability even if ∆ is very large.
ν F ( ∆( s ), ω ) ≥ −ν F (W ( s), ω ) , ∀ω ∈ R
where W(s) is minimum phase, the closed-loop system will be robust stable if
system
T ( s )[ I − W ( s )T ( s)]−1
is strictly passive.
30
Multi-objective control design
Design a controller that satisfies the passivity condition for robust
2003)
Based on KYP lemma and Semi-Definite Programming
Example:
Passivity index
0.0.0404
P
0.0.0202
as
0.0
si 0.0 0
vit
-0.0
-0.-0.020
-0-0.03.0
110-40
- 10-2
1 1 100 10+2
1 10+41 4
(rad/min
31
after the design of each loop, the system will remain stable if loop fail or are taken
out of service in the reverse order of they were designed.
3. During startup, the system will be stable if the loops are brought into service in the
same order as they have been designed.
4.
Problems with sequential design:
1. The final controller design, and thus the control quality achieved, may depend on
the order in which the controllers in the individual loops are designed.
2. Only one output is usually considered at a time, and the closing of subsequent
loops may alter the response of previously designed loops, and thus make iteration
necessary.
3. The transfer function between input uk and output yk may contain RHP zeros that
do not corresponding to the RHP zeros of G(s).
Notations:
3. S = ( I + GC )−1 ; H = I − S = GC ( I + GC ) −1
4. G% = diag{gii ( s ); i = 1,L , n}
1
5. S% = diag{si ( s ); i = 1,L , n} = diag{ ; i = 1,L , n}
1 + gii ci
g c
6. H% = diag{hi ( s ); i = 1,L , n} = diag{ ii i ; i = 1,L , n}
1 + gii ci
% −1 = {γ ; i, j = 1,L , n}
7. Γ = GG ij
% −1G
8. CLDG = GG d
9. E = (G − G% )G% −1
G M C M
10. G = k ; C= k ;
L O L O
11. Sk = ( I + Gk Ck ) ; H k = Gk Ck ( I + Gk Ck )
−1 −1
Hk 0 Sk 0
12. Hˆ k = ; Sˆk = ; i = k + 1, K + 2, L N
0
%
hi 0 s%i
32
S = ( I + GC ) −1 = [ I + GC
% + (G − G% )C ]−1
{ )}
−1
( ) (
−1
= I + (G − G% )C I + GC
% I + GC
%
{ )}
−1
( ) (
−1
= I + (G − G% )G% −1GC
% I + GC
% %
I + GC
( ) ( I + EH% ) ( )
−1 −1 −1
%
= I + GC = S% I + EH%
Design procedures:
) ) )
( )
−1 −1
In each of the following step, S = S k ( I + Ek H k ) ; Ek = (G − Gˆ k ) Gk
Gˆ k = G% k and Hˆ k = H%
33
Sequential Design Using Relay feedback Tests of Shen and Yu
The relay feedback system for SISO auto-tuning is as shown in the follwing figure:
When constant cycles appear after the system has been activated, the ultimate gain
and ultimate frequency of the open-loop system can be approximated by measuring
the magnitude and period (see the following figure) and by the following equations:
4h 2π
Ku = ; ωu =
πa Pu
The Z-N tuning method can be used to determine the controller parameters:
34
The controller for a 2 × 2 system is suggested:
PI Controller: K c = K c, ZN / 3, τ R = 2 Pu
Analysis:
The sequential design is derived by considering the multi-loop control system as
coupled SISO loops. For a 2 × 2 system as example, the equivalent SISO loops are:
1
g1 ( s) = g1,1 ( s ) {1 − (1 − ) h ( s)}
λ (s) 2
1
g 2 ( s) = g 2,2 ( s ) {1 − (1 − ) h ( s)}
λ (s) 1
g C,i gi ,i
Where, hi (s) = ; i = 1, 2
1 + gC ,i gi ,i
Notice that, if there is damping in g1 or g 2 , this damping should come from either
h1 or h2 . According to tis study, a closed system having an FOPDT process and a
modified ZN tuned PI controller will result in a closed-loop system (i.e. h1 and h2 )
having damping factor greater than 0.6. It is thus postulate that the open-loop transfer
functions g1 ( s ) and g 2 ( s ) can be approximated by:
kp τ p 2 s + 1 −θ s
G ( s) = ⋅ ⋅e
τ 2 s 2 + 2τζ s + 1 τ p1s + 1
Then, the stability region of the equivalent SISO loops are explored with the
35
are given in the following figure. It can be seen that the modified ZN tuning formula
proposed greatly improve the stability.
On the other hand, the convergence of the sequential design for the multi-loop
controller is formulated as the problem of finding the roots of simultaneous algebraic
equation using sequential iterations.
The simultaneous equations are obtained from the conditions of phase crossover for
the two loops, that is:
Im g1 ( jωu ,1 , jωu ,2 )
F1 ( jωu ,1 , jωu ,2 ) = tan −1 = −π
Re g1 ( jωu ,1 , jωu ,2 )
Im g 2 ( jωu ,1 , jωu ,2 )
F2 ( jωu ,1 , jωu ,2 ) = tan −1 = −π
Re g 2 ( jωu ,1 , jωu ,2 )
36
The procedures of this proposed sequential design are summarized with the flow
chart as shown.
37
Design of Multi-loop control systems
Fig.1
Fig.2
Fig.3
1
Fig.4
One may notice that there are two transmission paths from m1 to x1 .let us define a
relative gain from m1 to x1 .as:
Gain m1 − x1 , loop 2 open
λ=
Gain m1 − x1 , loop 2 close
When λ = 0.5 , the responses of x1 to a unit step input at m1 is shown in Fig. 5
Fig.5
In this case, when loop 2 is closed, the open loop gain of m1 − x1 becomes doubled.
The increase in the loop gain results in more oscillation in the closed loop response as
shown.
On the other hand, when λ = 2 , the open loop and closed loop responses are also
2
given in Fig. 6.
In this latter case, the open-loop gain decrease when loop 2 is switched from open to
close. As a result, the close of loop 1 leads the system to a more sluggish response to
the r1 input.
The increase or decrease of the loop gain is a result of closing loop2, and , hence, is
considered loop interaction. From the above example, λ is a measure of such
interaction and is named as relative gain of loop 1. You may also find the other
relative gain for loop2. But, in this case, the two relative gains will be equal.
1. ∑g
j
ij g ji = ∑ λ
j
ij = 1, ∀i
3
x 0 0...0
x x 0...0
G −1 =G =
....
x x x... x
Thus, g ij g ji = 0 = λ ij, ∀j ≠ i
and, g ii g ii = 1 = λ ii , ∀j = i
So, Λ =I
dg ji dg ij
5. = −λ ij
g ji g ij
dg ji dg ij dg ij
= − g ji dg ij = − g ji g ij = −λ ij
g ji g ij g ij
dλ dg ij dλ λ ij − 1 dg ij
= (1 − λ ij ) =
ij ij
5. , and
λ ij g ij λ ij λ ij g ij
[Proof];
λ ij = g ij g ji ⇒ dλ ij = dg ij g ji + g ij dg ji
dλ dg ij g ji + g ij dg ji dg ij dg ji dg ij
⇒ = = +( ) = (1 − λ ij )
ij
λ ij g ij g ji g ij g ji g ij
or,
dλ dg ij dg ji 1 dg ij λ ij − 1 dg ij
⇒ = + = (1 − =
ij
g g
)
λ ij ij ji λ ij g ij λ ij g ij
4
RGA-implications:
4. Plants with large RGA-elements are always ill-conditioned. (i.e., a plant with a
large γ(G) may have small RGA-elements)
5. Plants with large RGA-elements around the crossover frequency are fundamentally
difficult to control because of sensitivity to input uncertainties.
-----decouplers or other inverse-based controllers should not be used for plants
with large RGA-elements.
5
The Relative Disturbance Gain (RDG)
y1 = k11m1 + k12 m2 + k F 1d
y2 = k21m1 + k22 m2 + k F 2 d
∂m1 k
∂d = − F1
y1 , m2 k11
1
m2 = [ −k21m1 − k F 2 d ] (3)
k22
Substitute Eq.(3) into E.(2), we have:
Thus,
k12 k F 2
−kF1 + (4)
∂m1 k22 k k − k F 1k22
∂d = = 12 F 2
y1 , y2 k k k11k22 − k12 k21
k11 − 12 21
k22
6
So,
∂m1
∂d
y1 , y2 k k k − k F 1k22 k11 k22 k12 k F 2 − k F 1k22 (5)
β1 = = − 11 × 12 F 2 = ×
∂m1 k F 1 k11k22 − k12 k21 k F 1k22 k11k22 − k12 k21
∂d
y1 , m2
k12 k F 2 − k F 1k22 k11k22 k k
=- × = 1 − 12 F 2 λ
k F 1k22 k11k22 − k12 k21 k F 1k22
Similarly, we have:
∂m1
∂d
y1 , y2 k21k F 1
β1 = = 1 − λ
∂m1 k k
F 2 11
∂d
y1 , m2
k F 2 k12 β λ − β1 k F 2 λ − β1 k22
= 1− 1 = ⇒ = ×
k F 1k22 λ λ kF1 λ k12
k F 1 λ − β 2 k11
Similarly, ⇒ = ×
kF 2 λ k21
λ − β2 λ − β1 k11 k22 1
⇒ λ λ = k k = 1− λ
21 12
or,
( β1 − λ )( β 2 − λ ) = λ (λ − 1)
λ (λ − 1) λ (λ − 1) ( β − 1) λ 1 − β1
( β2 − λ ) = ⇒ β2 = +λ = 1 = λ
( β1 − λ ) ( β1 − λ ) ( β1 − λ ) λ − β1
It can be shown that:
7
Multi-loop e1 area
∝ β1 and
SISO idealy decoupled e1 area
Multi-loop e 2 area
∝ β2
SISO idealy decoupled e 2 area
Thus,
8
∞
∫ e dt 1
τ R1 kc' 1 k F 2 k12 τ R1 kc' 1
0
=− × − 1 λ = × β1 = f1 β1
∞
τ R' 1 kc1 k F 1k22 τ R' 1 kc1
∫ e dt
o
1
0
Similarly, we have:
∞
∫ e dt 2
τ R 2 kc' 2
0
= × β2 = f2 β2
∞
τ R' 2 kc 2
∫ e dt
o
2
0
Notice that the PI parameters in the interacting loops are used to be more conservative
than those in single loops. In another words,
f1 ≥ 1; f2 ≥ 1
The multi-loop control should be beneficial when the sum of absolute values of the
Remarks:
1. If λ is assumed not vary with frequency, and the process under study is FOPDT,
λ>1, f1 lies in the range 1< f1 <2, while 0.5<l<1, f1 lies in the range 1< f1 <3.
2. When f1 =1, β is equal to the ratio of response areas.
3. If β is small and f1 =is close to one, then the interacting control is favored for that
particular disturbance.
4. If β is large, the interacting control is un favorable for that particular disturbance.
G + ( s) = ( GT G ) GT ( s)
−1
Then, under close-loop control, the steady-state control input will be:
∂ui +
u = G + (0) y d and = gij (0) .
∂y
j CL
Thus, the non-square relative gain is defined similarly to the square RGA, that is:
9
−1
∂y ∂yi + T
Λ% = i = G (0) ⊗ G (0)
∂u j OL ∂u j CL
T
n n n
CS = [ cs (1), cs (2), L , cs (n)] = ∑ λ% j1 , ∑ λ% j 2 , L , ∑ λ% jn , = [1, 1, L, 1]
T
2. j =1 j =1 j =1
3. 0 ≤ rs(i) ≤ 1, ∀i = 1, 2,L, m
m n
4. ∑ rs(i) = ∑ cs(i) = n
i =1 j =1
m m n n m n
Note: ∑ rs(i) = ∑∑ λ% = ∑∑ λ% = ∑ cs ( j ) = n
i =1 i =1 j =1
ij
j =1 i =1
ij
j =1
5. Non-square RGA is invariant under input scaling, but is variant under output
scaling:
( GS ) ⊗ (GS )+ = (G ⊗ G+ ) ( SG ) ⊗ ( SG )+ ≠ (G ⊗ G+ )
T T T T
A. Multi-loop BLT-Tuning:
I. BLT-1 method:
kc ,i = k ZN ,i / F ; τ R ,i = (τ R ,i )ZN F
10
d. Calculate the closed-loop function Lc(iω):
W( iω )
Lc (iω ) = 20 log
1 + W( iω )
e. Calculate the detuning factor F until the peak in the Lc log modulus curve is
equal to 2N, that is:
W( iω )
Lcm = Max 20 log = 2N
ω
1 + W( iω )
II. BLT-2
τ D, j =
(τ )
D , j ZN
FD
III. BLT-3
1
t
u j = u j (0) + kC , j e j +
∫
τ R, j 0
e j dt ;
u j (0) = 0
At steady state,
11
∞
kC , j
lim u j (t ) =
t →∞ τ R, j ∫ e (t )dt
0
j
So,
∞
τ R , j u j (∞)
∫ e (t )dt =
0
j
kC , j
Notice that:
u (∞) = G −1 (0) R − G −1GL (0)d (∞)
u j (∞)τ R , j
ITE j =
kC , j
Let,
N ITE j
Sj = ∑ + ITE j −load
i =1 N
τ R, j N g j ,i (0)
Sj = × ∑ + g j ,i (0) g L,i (0)
kC , j i =1 N
Smax
Fj = F
Sj
kc ,i = kZN ,i / Fj ; τ R ,i = (τ R ,i ) ZN Fj
IV. BLT-4
12
a. BLT-3 is used to get individual PI controllers as described above.
b. BLT-2 procedure is used with individual FD factors for each loop:
S max
FD , j = FD
Sj
X ( iω ) = ([ I + GGC ]−1 GL L )
( iω )
VI. Summary
BLT-3---PI, BLT-4-----PID,
unequal Fi unequal Fi
TITO Processes
This method is based on A modified Z-N method for SISO control system. To derive
this modified Z-N method, ageneral formulation is to start with a given point of the
Nyquist curve of the process:
j ( −π +ϕ p )
G p ( jω ) = rp e (1)
13
1
GR ( jω ) = k 1 + j ωτ D − (2)
jτ Rω
rs
rR = and ϕ R = ϕ s − ϕ p
rp
In other words,
1 j (ϕ R )
GR ( jω ) = k 1 + j ωτ D − = rR e = rR cos ϕ R + jrR sin ϕ R
jτ Rω
Or,
1
k = rR cos ϕ R =
rs
rp
(
cos ϕ s − ϕ p ) and ωτ D − (
= tan ϕ s − ϕ p
τ Rω
)
The gain is uniquely determined. Only one equation determines τ R and τ D .
0.413 g (0)
α= , where κ =
3.302κ + 1 g ( jωc )
1
From ωτ D −
τ ω
−1
( )
= tan ϕ s − ϕ p , τ D can be solved to obtain:
R
1
τD = − tan(ϕ s − ϕ p ) + 4α + tan 2 (ϕ s − ϕ p ) and
2ω
1
τR = τD
α
14
y1 ( s) g11 ( s) g12 ( s ) u1 ( s )
y ( s ) = g ( s ) g ( s ) u ( s )
2 21 22 2
c1 ( s ) c1 ( s ) 0
c ( s ) = 0 c2 ( s)
2
c2 g12 g 21 g g
g1 = g11 − = g11 − −112 21
1 + c2 g 22 c2 + g 22
g12 g 21
g 2 = g 22 −
c1−1 + g11
Let
1
ci ( jω ) = k 1 + j ωτ Di + ; i = 1, 2
jτ Riω
ci ( jω ) = kci (1 − j tan(ϕbi − ϕ ai ) ) ; i = 1, 2
15
rai e j ( −π +ϕia ) ⋅ kci (1 − j tan(ϕbi − ϕai )) = rbi e j ( −π +ϕia )
⇓
rbi j (ϕai −ϕbi ) rbi r
e = cos(ϕai − ϕbi ) + j bi sin(ϕai − ϕbi ) = kci (1 − j tan(ϕbi − ϕ ai ))
rai rai rai
⇓
rbi
kci = cos(ϕai − ϕbi )
rai
rbi
kci ⋅ gi ( jω ) = cos(ϕ ai − ϕbi ) ⋅ rai e j ( −π +ϕia ) = rbi cos(ϕ ai − ϕbi ) ⋅ e j ( −π +ϕia )
rai
By setting i equal one and two, one will obtain two equations with kc1 and kc2 as
unknowns, and, thus, can be solved. But, there are very tedious procedures to find the
controller gains (such as:such kc1 and kc2) and frequency ω11 and ω22 that satisfy the
phase criteria. (see the reference: I&EC Res. 1998, 37, 4725-4733, Q-G Wang, T-H
Lee, and Y. Zhang)
16
f1 [(g11) -]-1
_
G
_ f2 [(g22)-]-1
g11 _
g22 _
GC ,i = ( Gi ,i )− f i ; i = 1,..., n
−1
The stability is guaranteed for any stable IMC filter that satisfies either of the
following:
g i ,i (iω )
f i (iω ) < f R*,i (iω ) = ; i = 1, 2,..., n
∑
j , j ≠i
gi , j (iω )
g i ,i (iω )
f i (iω ) < f C*,i (iω ) = ; i = 1, 2,..., n
∑
j , j ≠i
g j ,i (iω )
1
∑
j , j ≠i
g i , j (iω )
Ri (iω ) = = ; 0 ≤ω ≤ ∞
1 + f R*,i (iω ) ∑g j
i, j (iω )
1
∑
j , j ≠i
g j ,i (iω )
Ci (iω ) = = ; 0 ≤ω ≤ ∞
1 + fC*,i (iω ) ∑g
j
j ,i (iω )
17
For small interaction: 0.0 ≤ Ri , Ci ≤ 0.5 ⇒ f * >1
1
Controller: u ( s ) = kC − y ( s ) + [r ( s ) − y ( s)] − τ D sy ( s)
τ Rs
y k /(τ s )G p
= C R
r 1 + kC /(τ R s )G p
18
y 1 − Ls
=
r τ Rτ τ
− τ R L s2 + R + τ R − L s + 1
kC k P kC k P
1 − Ls
≈
τ C s + 1.414τ C s + 1
2 2
1 −τ C2 + 1.414τ Cτ + Lτ
⇒ kC = ;
k P τ C2 + 1.414τ Cτ + L2
−τ C2 + 1.414τ Cτ + Lτ
⇒ τR =
τ +L
1 − 0.5 Ls
e − Ls ≈
1 + 0.5 Ls
19
20
21
2. Controllers for multi-loop system
y k k g1,1
At ω → 0 ; = g1,1 1 − 1,2 2,1 =
u1 loop 2 closed k1,1k2,2 RGA(λ )
y
At ω → ∞ ; = g1,1
u1 loop 2 closed
(τ )
R ,i based on main loop
τ R ,i =
RGA(λi ,i )
The final pairing and the controller tuning is checked for robustness by
plotting DSO and DSI as functions of frequency, [Doyle and Stein]. The
singular values below 0.3-0.2 indicate a lack of stability robustness.
DSO(iω ) = σ [ I + ( GGC ) ]( iω )
−1
DSI ( iω ) = σ [ I + ( GC G ) ]( iω )
−1
22
E. Design Method based on Passivity
Fo
h Outlet Flowrate
23
Passive(Willems 1972): if a non-negative storage function S(x) can be found s.t.:
t
S(0)=0 and S ( x) − S ( x 0 ) ≤ ∫ yT (τ )u (τ )dτ for all t>t0≥0, x0, x∈ X, u∈ U.
t0
t
Strictly passive: if S ( x) − S ( x 0 ) < ∫ yT (τ )u (τ )dτ
t0
KYP Lemma
Nonlinear control affine systems (Hill & Moylan 1976)
x& = f ( x) + g ( x)u
y = h( x )
where x ∈ X ⊂ R n , u ∈ U ⊂ R m , y ∈ Y ⊂ R m
The process is passive if
∂S T ( x )
Lf S ( x) = f ( x ) ≤ 0,
∂x
∂S T ( x )
Lg S ( x ) = g ( x ) = hT ( x )
∂x
KYP Lemma
A linear system (Willems 1972) G(s):=(A,B,C,D) is passive if there exists a
positive definite matrix P such that:
AT P + PA PB − C T
T ≤0
B P − C − D − D
T
AT P + PA PB − C T
T <0
B P − C − D − D
T
Definition:
An LTI system S: G(s) is passive if :
(1) G(s) is analytic in Re(s)>0;
(2) G(jw)+G*(jw)≥0 for all that jw is not a pole of G(s);
(3) If there are poles of G(s) on the imaginary axis, they are non-repeated and the
residue matrices at the poles are Hermitian and positive semi-definite.
G(s) is strictly passive if:
(1) G(s) is analytic in Re(s) ≥ 0;
(2) G(jw)+G*(jw)>0 ∀ω ∈ (−∞, ∞) .
24
Theorem 1: For a given stable non-passive process with a transfer function matrix
G(s), there exists a diagonal, stable, and passive transfer function matrix
W(s)=w(s)I such that H(s)=G(s)+W(s) is passive.
[Proof]:
λmin ( H ( jω ) + H * ( jω )) = λmin (G ( jω ) + G* ( jω ) + (W ( jω ) + W * ( jω ))
Since both (G+G*) and (W+W*) are Hermitian, from the Weyl inequality, we
have:
Thus, if:
1
Re(W ( jω )) ≥ λmin (G ( jω ) + G* ( jω ))
2
H(s) can be render passive. On the other hand, if
1
Re(W ( jω )) > λmin (G ( jω ) + G* ( jω ))
2
H(s) will be strictly passive.
Passivity Theorem :
25
(including multi-loop PID controllers) even if it is highly nonlinear and/or
highly coupled
Control design based on passivity
Excess or shortage of passivity of a process can be used to analyse whether
this process can be easily controlled
Passivity based controllability study
Gff Gfb
G G
Passivity Index
The excessive IFP of a system G(s) can be quantified by a frequency dependent
26
passivity index
∆
1
ν F [G ( s ), ω ]=λmin [G ( jω ) + G *( jω )]
2
Assume the true process is GT ( s ) = G ( s ) + ∆( s)
The passivity index of the true process can be estimated as
1 1
ν (GT ( jω )) = −λmin ∆( jω ) + ∆* ( jω ) + G ( jω ) + G* ( jω )
2 2
1 1
≤ −λmin ∆( jω ) + ∆* ( jω ) − −λmin G ( jω ) + G* ( jω )
2 2
=ν (G ( jω )) +ν (∆ ( jω ))
j
Maximum gain
Passivity index
σ
∆(σ)
27
Passivity Theorem 2: If the multivariable process is strictly passive, then the
closed-loop system is stable if the multi-loop controller is passive.
ν (W ( jω )) < −ν (G + ( jω ))
−1
K ' ( s ) = U −1K ( s) I − w( s )U −1K ( s)
Notice that the above figure is equivalent to the one in the following:
ν ( D −1G + D ( jω )) < ν (G + ( jω ))
and
28
+
D −1G + (0) D + D −1 G + (0) D > 0
Design procedures:
2. Check the pairing. Examine the proposed pairing using DIC condition:
T
G + (0) M + M G + (0) > 0
min(−γ i )
kci ,τ Ri
such that
1 γi
<1
1 jω
1 + Gii+ ( jω )kc+,i 1 +
jτ R ,iω
and
kc+,iν s (ω )
τ R2 ,i ≥ , ∀ω ∈ R, i = 1,L , n
1 − kc+,iν s (ω ) ω 2
29
ν F (∆( s ), ω ) ≥ −ν F (W ( s ), ω ), ∀ω ∈ R
If the uncertainty is passive, then the controller is only required to render system T
strictly passive to achieve robust stability even if ∆ is very large.
ν F ( ∆( s ), ω ) ≥ −ν F (W ( s), ω ) , ∀ω ∈ R
where W(s) is minimum phase, the closed-loop system will be robust stable if
system
T ( s )[ I − W ( s )T ( s)]−1
is strictly passive.
30
Multi-objective control design
Design a controller that satisfies the passivity condition for robust
2003)
Based on KYP lemma and Semi-Definite Programming
Example:
Passivity index
0.0.0404
P
0.0.0202
as
0.0
si 0.0 0
vit
-0.0
-0.-0.020
-0-0.03.0
110-40
- 10-2
1 1 100 10+2
1 10+41 4
(rad/min
31
after the design of each loop, the system will remain stable if loop fail or are taken
out of service in the reverse order of they were designed.
3. During startup, the system will be stable if the loops are brought into service in the
same order as they have been designed.
4.
Problems with sequential design:
1. The final controller design, and thus the control quality achieved, may depend on
the order in which the controllers in the individual loops are designed.
2. Only one output is usually considered at a time, and the closing of subsequent
loops may alter the response of previously designed loops, and thus make iteration
necessary.
3. The transfer function between input uk and output yk may contain RHP zeros that
do not corresponding to the RHP zeros of G(s).
Notations:
3. S = ( I + GC )−1 ; H = I − S = GC ( I + GC ) −1
4. G% = diag{gii ( s ); i = 1,L , n}
1
5. S% = diag{si ( s ); i = 1,L , n} = diag{ ; i = 1,L , n}
1 + gii ci
g c
6. H% = diag{hi ( s ); i = 1,L , n} = diag{ ii i ; i = 1,L , n}
1 + gii ci
% −1 = {γ ; i, j = 1,L , n}
7. Γ = GG ij
% −1G
8. CLDG = GG d
9. E = (G − G% )G% −1
G M C M
10. G = k ; C= k ;
L O L O
11. Sk = ( I + Gk Ck ) ; H k = Gk Ck ( I + Gk Ck )
−1 −1
Hk 0 Sk 0
12. Hˆ k = ; Sˆk = ; i = k + 1, K + 2, L N
0
%
hi 0 s%i
32
S = ( I + GC )−1 = [ I + GC
% + (G − G% )C ]−1
{ )}
−1
( ) (
−1
= I + (G − G% )C I + GC
% I + GC
%
{ )}
−1
( ) (
−1
= I + (G − G% )G% −1GC
% I + GC
% %
I + GC
( ) ( I + EH% ) ( )
−1 −1 −1
%
= I + GC = S% I + EH%
Design procedures:
) ) )
( )
−1 −1
In each of the following step, S = S k ( I + Ek H k ) ; Ek = (G − Gˆ k ) Gk
Gˆ k = G% k and Hˆ k = H%
33
Sequential Design Using Relay feedback Tests of Shen and Yu
The relay feedback system for SISO auto-tuning is as shown in the follwing figure:
When constant cycles appear after the system has been activated, the ultimate gain
and ultimate frequency of the open-loop system can be approximated by measuring
the magnitude and period (see the following figure) and by the following equations:
4h 2π
Ku = ; ωu =
πa Pu
The Z-N tuning method can be used to determine the controller parameters:
34
The controller for a 2 × 2 system is suggested:
PI Controller: K c = K c, ZN / 3, τ R = 2 Pu
Analysis:
The sequential design is derived by considering the multi-loop control system as
coupled SISO loops. For a 2 × 2 system as example, the equivalent SISO loops are:
1
g1 ( s) = g1,1 ( s ) {1 − (1 − ) h ( s)}
λ (s) 2
1
g 2 ( s) = g 2,2 ( s ) {1 − (1 − ) h ( s)}
λ (s) 1
g C,i gi ,i
Where, hi (s) = ; i = 1, 2
1 + gC ,i gi ,i
Notice that, if there is damping in g1 or g 2 , this damping should come from either
h1 or h2 . According to tis study, a closed system having an FOPDT process and a
modified ZN tuned PI controller will result in a closed-loop system (i.e. h1 and h2 )
having damping factor greater than 0.6. It is thus postulate that the open-loop transfer
functions g1 ( s ) and g 2 ( s ) can be approximated by:
kp τ p 2 s + 1 −θ s
G ( s) = ⋅ ⋅e
τ 2 s 2 + 2τζ s + 1 τ p1s + 1
Then, the stability region of the equivalent SISO loops are explored with the
35
are given in the following figure. It can be seen that the modified ZN tuning formula
proposed greatly improve the stability.
On the other hand, the convergence of the sequential design for the multi-loop
controller is formulated as the problem of finding the roots of simultaneous algebraic
equation using sequential iterations.
The simultaneous equations are obtained from the conditions of phase crossover for
the two loops, that is:
Im g1 ( jωu ,1 , jωu ,2 )
F1 ( jωu ,1 , jωu ,2 ) = tan −1 = −π
Re g1 ( jωu ,1 , jωu ,2 )
Im g 2 ( jωu ,1 , jωu ,2 )
F2 ( jωu ,1 , jωu ,2 ) = tan −1 = −π
Re g 2 ( jωu ,1 , jωu ,2 )
36
The procedures of this proposed sequential design are summarized with the flow
chart as shown.
37