Topic 5.

0: Multivariable Control

5.1. Introduction

5.2. Multivariable Systems Analysis

5.3. Relative Gain Array (RGA)

5.4. Single Value Analysis

5.5. Interactions and Decoupling of Control Loops

5.1. Introduction

Processes with only one output being controlled by a single manipulated

variable are classified as single-input, single-output (SISO) systems. In
most unit operations in chemical engineering there are more than one
control loop, thus each unit requires the control of at least two variables,
e.g. product quality and throughput (product rate).
Systems with more than one control loop are known as multi-input, multi-
output (MIMO) or multivariable systems.
Definitions:
Multiloop control: each manipulated variable depends on only a single
controlled variable, i.e., a set of conventional feedback controllers.
Multivariable control: each manipulated variable can depend on two or more
of the controlled variables, e.g. decoupling control, model predictive control.

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Fig 5.1 Physical examples of multivariable control systems

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 Fig 5.2 SISO and MIMO control systems

5.2 Multivariable System Analyses

5.2.1 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.
3. Specify types of FB controllers.
Example: 2 x 2 system
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 Fig 5.3 Process with 2 possible control pairing

Two possible controller pairings:

U1 with Y1, U2 with Y2 (1-1/2-2 pairing)
or
U1 with Y2, U2 with Y1 (1-2/2-1 pairing)
Note: For n x n system, n! possible pairing configurations.

5.2.2 Transfer Function Model (2 x 2 system)

Two controlled variables and two manipulated variables (4 transfer

functions required)

Thus, the input-output relations for the process can be written as:

Or in vector-matrix notation as,

where, Y(s) and U(s) are vectors,

And Gp(s) is the transfer function matrix for the process:

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 Fig 5.4 Block diagrams for 2x2 multiloop control schemes

5.2.3 Control-loop Interactions

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Process interactions may induce undesirable interactions between two or
more control loops.
Example: 2 x 2 system
Control loop interactions are due to the presence of a third feedback loop.
 Problems arising from control loop interactions
i. Closed-loop system may become destabilized.
ii. Controller tuning becomes more difficult.

Fig 5.5 The Hidden feedback control loop (in dark lines) for a 1-1/2-2 controller pairing

5.2.4 Block Diagram Analysis

For the multiloop control configuration, the transfer function between a

controlled and a manipulated variable depends on whether the other
feedback control loops are open or closed.

Example: 2 x 2 system, 1-1/2 -2 pairing

From block diagram we can show that;

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Note that the last expression contains GC2.

5.2.4.1 Closed-loop stability

To evaluate the effects of control loop interactions further, fig 4.4a
(1-1/2-2), following expressions can be derived:

where the closed-loop transfer functions are:

and Δ(s) is defined as:

Two important conclusions drawn from these 2 closed-loop interactions

are:
1. A set-point change in one loop causes both controlled variables to
change because; Γ12 and Γ21 are not zero, in general.
2. Stability of the closed-loop system, since each of the 4 closed-loop
transfer functions in eqns. 11-14 has the same denominator, the
characteristic equation Δ (s) = 0 or

Thus, stability of the closed-loop system depends on both controllers, Gc1

and Gc2, and process transfer functions.
Analogous characteristic equations can be derived for the 1-2/2-2 control
scheme, Fig 5.4b.
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For the special case where either Gp12 = 0 or Gp21 = 0, the characteristic
eqn.16 reduces to:

For this situation, the stability of the overall system merely depends on the
stability of the 2 individual feedback control loop and the characteristic
equation:

5.2.5 Analysis of a Continuous Stirred Tank Reactor (CSTR)

CSTR is used to convert a reactant (A) to a product (B).

The rxn is liquid phase, 1st order and exothermic and perfect mixing is
assumed.
Cooling jacket surrounds the reactor to remove the heat of rxn.

Fig 5.6. A basic control scheme for a CSTR

In this system variables of interest (from a control engineers’ perspective)
could be, product composition and temperature of the reacting mass.
There will therefore be a composition control loop as well as a temperature
control loop.

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Feed to the reactor is often used to manipulate product composition while
temperature is controlled by adding (removing) energy via heating (cooling)
coils or jackets.
This basic control configuration is demonstrated in Fig 5.6.
'TC' represents a temperature controller, the mv for this loop being coolant
flowrate to the jacket.
'CC' represents the composition controller, the mv being reactant feedrate.
Let’s consider a change in feed flow rate in order to bring composition back
to its desired level.
Manipulation of feed flow will also change the temperature of the reaction
mass.
Heat removal or addition, on the other-hand, would influence the rate of
reaction and hence composition.
This phenomenon, known as loop interaction, occurs in many processes
and must be considered when developing a control strategy, if not known, it
may be difficult to run the unit under closed loop control, creating many
operational problems.
Thus, for two loops to work successfully together each loop must “know”
what the other is doing, otherwise, in trying to achieve their respective
objectives each loop may act against the interests of the other.

5.2.5.1 Developing Process Models for Multivariable Systems Analysis

When designing a multivariable control strategy, the process must first be
modeled and can be achieved either analytically using sets of differential
equations to describe a systems behavior or empirically, using data
obtained from an open loop step test fitted to an assumed model structure.
For the purposes of the control system design we often use the latter
(data), parameterizing the model using 1st order plus time-delay transfer
functions.
Input-Output Multivariable System Models
For systems with more than one output, input-output models may assume a
number of structural forms (Analysis of the model structure shown in Fig
5.7)

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 Fig 5.7 (2x2) Multivariable model structure

Here G11(s) is a symbol used to represent the forward path dynamics

between mv1 and cv1, while G22(s) describes how cv2 responds after a
change in mv2.
The interaction effects are modeled using transfer functions G21(s) and
G12(s).
G21(s) describes how cv2 changes with respect to a change in mv1 while
G12(s) describes how cv1 changes with respect to a change in mv2.
For the CSTR shown in Fig 5.6, mv1 could be the coolant flowrate, while
mv2 could be the flowrate of the reactant.
The output cv1 may be the reactor temperature while the output cv2 would
be the effluent concentration.

5.2.5.2 The mathematical model written in matrix-vector notation

The elements within the blocks of Fig 5.7 are transfer functions, defining
the relationship between the respective input output pairs.
The following general transfer function description will be used:

where, kp is a process gain, the process time constant and θ the

process time delay.

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Note that each of the 4 blocks in Fig5.7 will have different parameters that
must be determined.
On a loop by loop basis, the outputs of the system model are related to the
inputs as follows:

Eqns. (2) and (3) may be expressed more compactly in matrix-vector

notation as:
cv = G mv - - - - 4

where, cv = [cv1, cv2]T; mv = [mv1 mv2]T

and,

Note that this is a matrix of transfer function elements.

5.2.5.3 Incorporation of load disturbance terms into the systems model

In many situations, processes are influenced by external factors such as
changes in ambient conditions, changes in the quality of raw materials;
changes in the operating environment and so on (disturbances).
To cater for these effects, load disturbance terms may also be incorporated
within the model.
Incorporation of load disturbance terms in the model representation leads
to the following expression:

cv = Gmv + Gddv - - - 5

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The block diagram representation of this system model is given by:

Fig 5.8 Incorporating load disturbances into the system model

In other words, disturbances are added to the process output in exactly the
same fashion as considered for single loop systems in process control 1.

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5.3 Relative Gain Array

One of the most important factors, common to all process control

applications, is the correct (best) pairing of the manipulated and controlled
variables.
A number of quantitative techniques are available to assist in the selection
process and one of the earliest methods proposed by Bristol (1966) was
the Relative Gain Array (RGA).
Provides two types of useful information:
1. Measure of process interactions
2. Recommendation about best pairing of controlled and manipulated
variables.
Requires knowledge of steady-state gains but not process dynamics

Example of RGA Analysis: 2 x 2 system

Steady-state process model:

The RGA, Λ, is defined as:

where, the relative gain, λij, relates the ith controlled variable and the jth
manipulated variable

5.3.1 Scaling Properties

i. λij is dimensionless
ii.

For a 2 x 2 system:

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5.3.2 Recommended Controller Pairing
It corresponds to the λij which have the largest positive values that are
closest to one.

In general:
1. Pairings which correspond to negative pairings should not be selected.
2. Otherwise, choose the pairing which has λij closest to one.

Examples:

5.3.2 RGA for Higher-Order Systems

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For and n x n system:

- - - - 21

Each λij can be calculated from the relation:

where, Kij is the (i,j) - element of the steady-state gain K matrix,

y = Ku
-1 T
Hij is the (i,j) – element of H =(K )
Note: Ʌ ≠ KH
Singular Value Analysis (SVA)
 is a powerful analytical technique that can be used to solve several
important control problems:

Any real m x n matrix can be factored as,

K = W ∑ VT ----- 1
Matrix ∑ is a diagonal matrix of singular values:
∑= diag (s1, s2, …, sr)
The singular values are the positive square roots of the eigenvalues of KTK
(r = the rank of KTK).
The columns of matrices W and V are orthonormal.
Thus, WWT = I and VVT = I
 Can calculate ∑, W, and V using MATLAB command, svd.

Condition Number (CN)

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  Is defined as the ratio of the largest to the smallest singular value:

 Is a measure of sensitivity of the matrix properties to changes in

individual elements
A large value of CN indicates that K is ill-conditioned.

Consider the RGA for a 2x2 process:

If K12 changes from 0 to

0.1, then K becomes a singular matrix, which corresponds to a process that
is difficult to control.

RGA and SVA used together can indicate whether a process is easy (or
difficult) to control.

K is poorly conditioned when CN is a large number (e.g., > 10).

Thus small changes in the model for this process can make it very difficult
to control.

Selection of Inputs and Outputs

Arrange the singular values in order of largest to smallest and look for any
σi/σi-1 > 10; then one or more inputs (or outputs) can be deleted.
Delete one row and one column of K at a time and evaluate the properties
of the reduced gain matrix.

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