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Control of Multiple-Input,
Multiple-Output Processes
Multiloop controllers
Modeling the interactions
Relative Gain Array (RGA)
Singular Value Analysis (SVA)
Decoupling strategies
Chapter 18
Chapter 18
Chapter 18
Chapter 18
Chapter 18
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.
Examples: decoupling control, model predictive control
Chapter 18
Chapter 18
Chapter 18
Y ( s ) GP ( s )U ( s)
Y1 ( s )
U1 ( s)
Y ( s)
, U ( s)
Y
(
s
)
U
(
s
)
2
2
And Gp(s) is the transfer function matrix for the process
G
(
s
)
G
(
s
)
P 22
P 21
Chapter 18
Control-loop interactions
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
Chapter 18
Chapter 18
Chapter 18
Chapter 18
Chapter 18
Figure 18.6 Stability region for Example 18.2 with 1-1/2-2 controller pairing
Chapter 18
Figure 18.7 Stability region for Example 18.2 with 1-2/2-1 controller pairing
Chapter 18
Chapter 18
Y1 K11U1 K12U 2
Y2 K 21U1 K 22U 2
The RGA is defined as:
11 12
22
21
RGA
Scaling Properties:
Chapter 18
i) ij is dimensionless
ii)
ij
ij
1.0
For 2 x 2 system,
1
11
,
K K
1 12 21
K11K 22
12 1 11 21
Chapter 18
In general:
1. Pairings which correspond to negative pairings should
not be selected.
2. Otherwise, choose the pairing which has ij closest
to one.
Examples:
Process Gain
Matrix, K :
Relative Gain
Array, :
K11
0
0
K 22
1 0
0 1
0
K
21
K12
0
0 1
1 0
K11
0
K12
K 22
K11
K
21
0
K 22
1 0
0 1
1 0
0 1
Y1 K11U1 K12U 2
11
Chapter 18
Y2 K 21U1 K 22U 2
EXAMPLE:
K12 2 1.5
K
K 11
K 21 K 22 1.5 2
2.29 1.29
1.29 2.29
1
,
K K
1 12 21
K11K 22
Recommended pairing is Y
and U1, Y2 and U2.
EXAMPLE:
2 1 .5
0.64 0.36
K
1
.
5
2
0
.
36
0
.
64
Recommended pairing is Y
12 1 11 21
Chapter 18
Wh
Wc
Wc Wh
Wh
Wc Wh
Wc
Wh
Wc Wh
Wc
Wc Wh
Chapter 18
2 x 2 process
y1 = 5 u1 + 8 u2
y2 = 10 u1 + 15.8 u2
Adj K
u=K y =
y
det K
-1
RGA : 11
K11K 22
K11K 22
K11K 22 K12K 21
det K
effect of det K 0 ?
Chapter 18
U1 U 2 L
11 12 L
21 22 L
Un
Y1
1n
Y2
2 n
M M M O
M
Yn n1 n1 L nn
Each ij can be calculated from the relation
ij K ij H ij
Where Kij is the (i,j) -element in the steady-state gain matrix, K :
Y KU
KH
1 T
EXAMPLE: Hydrocracker
Chapter 18
U1
U2
U3
U4
Y1 0.931
0.150
0.080 0.164
Y2 0.011 0.429 0.286
1.154
Chapter 18
K = W VT
Chapter 18
10 1
(RGA) = 1.0
If K12 changes from 0 to 0.1, then K becomes a singular matrix, which
corresponds to a process that is hard to control.
RGA and SVA used together can indicate whether a process is easy (or
hard) to control.
10.1 0
(K ) =
0 0.1
CN = 101
0.90
0.95
0.95
0.006
0.008
0.020
0.6035
0.5561
Chapter
Chapter18
18
0.7292
0.4093 0.6843
0.8311 0.0066
0.5714 0.3766
0
0
1.618
0
1.143
0
0
0
0.0097
0.0151
V 0.9985 0.0540 0.0068
0.0060 0.0154 0.9999
0.0541
0.9984
CN = 166.5 (1/3)
The RGA is as follows:
Chapter 18
Chapter 18
Chapter 18
Chapter 18
Design Equations:
We want cross-controller, GC12, to cancel out the effect of U2 on Y1.
Thus, we would like,
Chapter 18
T12GP11U 2 GP12U 2 0
Since U2 0 (in general), then
GP12
T12
GP11
GP 21
GP 22
Chapter 18
GP12 ( s )
T12 ( s )
GP11 ( s )
GP 21 ( s )
T21 ( s )
GP 22 ( s )
Variations on a Theme:
Chapter 18
Partial Decoupling:
Use only one cross-controller.
Static Decoupling:
Design to eliminate SS interactions
Ideal decouplers are merely gains:
K P12
T12
K P11
K P 21
T21
K P 22
Nonlinear Decoupling
Appropriate for nonlinear processes.
Chapter 18
Chapter 18
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