CN4227R Advanced Process Control

Project 2
Due on 2 April 2014

Consider a 2!2 process transfer function given by

!
!
!
!
"
#
$
$
$
$
%
&
+ +
+ +
=
' '
' '
1 2
10
1 12
2
1 7
4
1 2
10
) (
7 . 4
5 . 3
s
e
s
e
s
e
s
e
s G
s s
s s

(a) For the diagonal pairing, a 2!2 decentralized controller can be designed by the
independent design (ID) procedure, where the first PI controller is designed while
the second control loop is put on the manual mode. Specifically, this PI controller is
designed entirely based on the (1,1)-th element of G(s). Likewise, PI controller for the
second loop is designed based on the (2,2)-th element of G(s). The following ITAE
tuning relations are used to tune the two PI controllers.

916 . 0
) ( 586 . 0
!
=
"
#
K K
c
;
!
"
!
!
165 . 0 03 . 1 # =
I

where K, ! and ! denote the process gain, time constant, and time-delay of a process
model, respectively, while K
c
and !
I
are the PI parameters.

Implement the decentralized PI controller designed above using the Simulink to
obtain process output response, i.e. y
1
vs. time and y
2
vs, time, for the respective unit
step changes in the set-points of y
1
and y
2
at 5 = t . The entire simulation time is 80
unit time.

(b) Repeat part (a) to design a 2!2 decentralized controller when the off-diagonal
pairing is considered and obtain servo response for the same set-point changes
described in part (a).

(c) By comparing the servo performance in parts (a) and (b), briefly discuss the effect
of pairing on the control performance from the perspective of RGA analysis or/and NI
criterion, if applicable.
(d) For the undesirable pairing discussed in part (c), re-design a new 2!2
decentralized controller for better servo response of the entire 2!2 decentralized
control system, for example improvement from originally unstable response to stable
response, reduction of large overshoot in the originally highly oscillatory response,
etc.


Remarks

For consistencys sake, PI controller implemented in your Simulink file for
this Project should use the ideal PID block, which has been uploaded in the
IVLE.

The PID equation in ideal PID block is formulated as P + I/s + D*s.
Therefore, P = K
c
, I = K
c
/!
I
and D = K
c
*!
D
, where K
c
, !
I
, and !
D
are the
parameters of PID controllers defined in the textbook.

Lastly, for consistencys sake again, parameters in Configuration Parameters
under Simulation menu bar given at the top of Simulink files are specified
as: Type = fixed-step, Solver = ode4 (Runge-Kutta), and Fixed-step size =
0.05.