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Abstract
A tuning criterion for multiple inputmultiple output (MIMO) PID controllers based on characteristic matrix eigenvalues and Lyapunov
functions was suggested. In this method, the tuning problem is stated as an optimization one in which the Lyapunov quadratic index variation
with respect to dynamic parameters was minimized with constrains in eigenvalues. Proposed criterion was applied to the multivariate
controls of a distillation column, and a nonlinear biochemical reactor.
2004 Elsevier Ltd. All rights reserved.
0009-2509/$ - see front matter 2004 Elsevier Ltd. All rights reserved.
doi:10.1016/j.ces.2004.09.047
898 M.A. Garca-Alvarado et al. / Chemical Engineering Science 60 (2005) 897 905
y = dx + e, (2) This nth order equation may be written as Eqs. (4) if auxil-
iary variables are dened as
du d(yd y) d2 (yd y) dx1 (t)
=f + g(yd y) + h , (3) x1 (t) = x(t), x2 (t) = ,...,
dt dt dt 2 dt
dxn1 (t)
xn (t) = .
where x is an n1 matrix whose elements are state variables, dt
is an m1 matrix whose elements are inputs variables, u is
an s 1 matrix whose elements are control variables, y is an The plant described with Eqs. (1)(3) may be rewritten in
r 1 matrix whose elements are output-controlled variables. terms of increased state
and a are n n matrices whose elements are dynamic dx
parameters for state variables, b is an n m matrix whose = a x + b , y = d x + e , (5)
dt
elements are dynamic parameters for input variables, c is
an n s matrix whose elements are dynamic parameters for where increased space and input, expressed as transpose
control variables, d is an r n matrix whose elements are the form, are
relationship between state variables and output-controlled
x = [xT uT ],
T
variables, e is an r m matrix whose elements are the
T d
T d2 T T 2 T
relationship between input variables and output-controlled T T dyd d yd
variables, f is an s r matrix whose elements are the pro- = yd
dt dt 2 dt dt 2
portional gains of PID, g is an s r matrix whose elements
are the integral times of PID, and h is an s r matrix whose and increased matrices are dened as
elements are the derivative constants of PID. The diagonal
elements of f, g and h matrices are the well-known kp , ki and In 0
= ,
kd parameters. The non diagonal elements represent decou- hd1 a + fd hd1 c + Is
1
pling parameters with proportional, integral and derivative a 1 c
a = , d = [d 0]. (6)
actions. gd 0
If elements are constant and a, b, c, d and e are constant
or x, or u functions, the plant is quasi-linear. If , a, b, Matrices b and e do not have effect into criterion. There-
c, d and e elements are constant the plant is linear and time fore, the characteristic matrix (n + s) (n + s) that denes
invariant. It is important to note that Eq. (1) may represent the plant dynamic is
a delay by using auxiliary variables through the following
A = ( )1 a . (7)
theorem.
It is well known that control system (5) is stable, if and
Theorem 1. Any delay of the form x(t) = (t d ) may only if, all the real parts of matrix A eigenvalues (i ) are
be approximately represented by the following system of n nonpositives. Moreover, the dynamic behavior of control
differential equations: system is characterized by these eigenvalues. The stabiliz-
ing time may be minimized if the minimal real part of the
nd dxn (t) eigenvalues is maximized. Therefore, it is logical to assume
+ + d x2 (t) + x1 (t) = (t), that a feasible tuning criterion may be
n! dt
dxn1 (t) dx1 (t) Find f, g, h such that
= xn (t), . . . , = x2 (t). (4)
dt dt rmin Max, (8)
Proof. In Laplace dominium x(s)=ed s (s) or ed s x(s)= subject to
(s). Applying Taylor series expansion
Re(i ) < 0 i = 1, 2, . . . , (n + s), (9)
2d s 2 n s n where
1 + d s + + + d + x(s) = (s).
2! n!
rmin = Min{abs[Re(i )]}. (10)
Coming back to time dominium, and truncating the series Constrains (9) assure that the control will be stable and
after the nth element yields with dynamic behavior limited by eigenvalues characteris-
tics.
However, optimization problems dened by Eqs. (8)(10)
dx(t) 2d d2 x(t) nd dn x(t)
x(t) + d + + + = (t). may have multiple solutions. Therefore, other conditions
dt 2! dt 2 n! dt n are required for a tuning criterion. If V (x) = x Px is a
T
M.A. Garca-Alvarado et al. / Chemical Engineering Science 60 (2005) 897 905 899
Lyapunov function of x, the quadratic performance index of Control system (5) with matrices dened as in (20) (a
output variables may be MIMO proportional control) may be optimized with respect
to quadratic performance index
x d Qd x dt
T T
IL = (yT Qy) dt =
0 0
T T
= x (0)Px (0) x (t)Px (t)|t ,
(11) I= xT Qx + uT Ru dt, (21)
0
where
by using the Riccati equation (Wiberg, 1971) in terms of Eq.
AT P + PA = d Qd .
T
(12)
(5) matrices,
If system (1)(3) is stable, then matrix P exists and it is
symmetric and positive dened (Wiberg, 1971). Addition- T T
1 a P+P 1 a P 1 c R1 1 c P+Q = 0
ally, if the system is such that
(22)
x (t)Px (t)|t 0
T
(13)
and
then, the Lyapunov quadratic index (IL ) depends only on
dynamic characteristics and initial conditions. It is evident
that an optimal tuning criterion may be f = R1 (1 c)T P d1 , (23)
Find f, g, h such that
IL Min, (14) where dd1 = Ir .
In practice, these criteria were applied in sequence. First,
subject to optimal P control was obtained with Eq. (23) at different
Re(i ) < 0 i = 1, 2, . . . , (n + s). (15) R values. These R values dene the bounds of u. Result
for f may be used as initial guest for minimization problem
On the other hand, the above criteria do not take into (14) and (15). Finally, the robust criterion is applied (Eqs.
account any robustness characteristics. Robust control is (16)(18)) with 1 dened in problem (14) and (15) results.
dened as a control tuned in such way that dynamic re- Two applications of the criterion dened in Eqs. (8)(23)
sponse would be minimally affected by parameter uncer- were presented. In Section 3, a MIMO PID control of a dis-
tainty (Alvarez et al., 1998; Nava et al., 2002). In terms of tillation column is described. This distillation column was
matrix A, the robustness criterion may be expressed as the represented using an empirical dynamic model reported in
following optimization problem: the literature (Bao et al., 1999). In Section 4, a MIMO PID
Find f, g, h such that control of a continuous stirred tank reactor (CSTR) is con-
sidered. The CSTR was represented by a mechanistic dy-
Var(IL ) Min, (16)
namic mode obtained from heat and mass balances.
subject to Matrices operations were solved with Matlab 6.0 routines.
Optimization problems required an algorithm that could ma-
IL < 1 , (17) nipulate the target function and the implicit constrain dened
Re(i ) < 0 i = 1, 2, . . . , (n + s), (18) by (15) or (18). We found that the classical algorithm pro-
posed by Box (1965) satised the requirements, because it
where does not use functions derivatives, it can manipulate discon-
* IL 2
tinuous functions and it can introduce implicit constrains.
Var(IL ) = , (19) In order to avoid local optimums, different initial guesses
j i
*aij were used. Quadratic variations of performance index IL
(19) were evaluated by using nite differences. Target func-
and aij are the elements of matrix A subject to uncertainty. tions, constrains and the optimization algorithm were pro-
This criterion, called minimal Var(IL ) (MVIL), suggests grammed in Matlab 6.0. Differential equations of process dy-
the tuning of a robust PID control in which the sum of square namic were solved with fourth-order RungeKutta method,
of variations of the quadratic performance index (11) with using discrete PID algorithms. Final performance of control
respect to dynamic parameters would be minimal. system was additionally evaluated with the quadratic perfor-
However, there is a limitation. If the control algorithm mance index of the error
tends to the proportional one (P ), i.e., matrices g and h tend
to null matrix, s eigenvalues of matrix A tend to zero with- tf
out affecting the stability or stabilizing time. Under these Ie = (yd y)T Q(yd y) + uT Ru dt, (24)
0
considerations
x = x, = , = In , a = 1 (a cfd). (20) calculated form simulation results by trapezoidal rule.
900 M.A. Garca-Alvarado et al. / Chemical Engineering Science 60 (2005) 897 905
3. MIMO PID control of a distillation column 0.001. Lyapunov quadratic index (IL ) was evaluated with
Q = I4 , x1 (0) = 0.5, x3 (0) = 0.5, x5 (0) = 0.5, x7 (0) = 0.5,
Bao et al. (1999) refers the following dynamic model for and the rest of x elements equal to 0 at t = 0. Finally,
a distillation column in Laplace dominium error quadratic index was evaluated with Q = I2 , R = 0 and
tf = 30 min for a unit step change in y1d and y2d .
y1 (s) Results are summarized in Table 1, and the dynamic re-
=
y2 (s) sponse of output variables is plotted in Figs. 1 and 2. IL
33.89 32.63
value obtained for Ricatti solution is not comparable with the
(98.02s + 1)(0.42s + 1) (99.6s + 1)(0.35s + 1) other IL values because the number of elements of x matrix
18.85 34.84
is different to that of the x matrix. rmin obtained for Ricatti
(75.43s+ 1)(0.30s
+ 1) (110.5s + 1)(0.03s + 1) equation and for MVIL are practically the same. This shows
u (s) that rmin tend to a maximum in an optimal control. However
e0.01s 1 , (25)
u2 (s) in Bao et al. (1999) optimal control rmin tends to zero. This
is because ki1 tends to zero, and therefore this control tends
where y1 and y2 are temperatures of trays 21 and 7, respec-
to P . In fact, control dynamic for Ricatti and Bao results
tively, and u1 and u2 are liquid reux and vapor boilup, re-
is similar (Fig. 1), but Ricatti solution shows stationary er-
spectively. Eq. (25) with a MIMO PID control may be rep-
ror. The rmin obtained in Bao et al. (1999) produces a great
resented by Eqs. (1) and (2), and applying the Theorem 1,
value in IL (Table 1). Therefore, the comparison between
as follows
controls must be done using quadratic performance index of
xT = [x1 x2 x12 ]112 , uT = [u1 u2 ]12 , the error (Ie ). The minimal value for Ie was obtained with
yT = [y1 y2 ]12 , MVIL criterion, but this MIMO PID control has decoupled
parameters not included in the control proposed by Bao et
y1 = x1 + x3 , y2 = x5 + x7 , al. (1999). In order to show the robustness, Bao et al. (1999)
proposed the simulation of the same control system using
kp1 kp12 kp1 ki1 kp12 ki12
f= , g= , the same control parameters but with the following modied
kp21 kp2 22 kp21 ki21 kp2 ki2 22 matrix transfer function:
33.89 32.63
kp1 kd1 kp12 kd12
h= , (98.01s + 1)(0.43s + 1) (98.5s + 1)(0.33s + 1)
kp21 kd21 kp2 kd2
22
18.85 34.84
where the nonzero terms of matrices are, 11 = 98.2, 22 = (76s + 1)(0.31s + 1) (109.5s + 1)(0.025s + 1)
0.42, 33 = 99.6, 44 = 0.35, 55 = 75.43, 66 = 0.3,
0.1s
77 = 110.5, 88 = 0.03, ii = 0.01 i = 9, 10, . . . , 12, e . (26)
aii =1 i=1, 2, . . . , 12, a12 =33.89, a29 =1, a34 =32.63, Results are plotted in Figs. 3 and 4. It is evident that the
a4,10 = 1, a56 = 18.85, a6,11 = 1, a78 = 34.84, a8,12 = 1, three control systems support the variations in the matrix
c91 =1, c10,2 =1, c11,1 =1, c12,2 =1, d11 =1, d13 =1, d25 =1, transfer function. However, the error quadratic index ob-
d27 = 1. In the original example (Bao et al., 1999) the de- tained
lay of Eq. (25) is not included until the robustness test. We Ie = 6.7 101 for Ricatti, Ie = 4.6 101 for Bao and
include these terms with a small value because of the need Ie = 2.7 101 for MVIL indicates that the MVIL criterion
of auxiliary equations (Theorem 1). is the most robust.
Ricatti equation was evaluated with Q = I2 , and R as a Resuming, the proposed MVIL criterion with a minimal
diagonal matrix 2 2 with rii as diagonal terms equal to tolerance in IL (1 ) is a feasible tuning method that produces
Table 1
PID parameters obtained for distillation column control
Set Type kp1 , ki1 , kd1 , kp2 , ki2 , kd2 , rmin , IL , Var(IL ), Ie
kp12 , kp21 , ki12 , ki21 , kd12 , kd21
1 Ricatti with rii = 0.001 12.696, 0, 0, 10.822, 0, 0, 0.01, 0.36, 8.86, 2.8 101
7.9758, 10.598, 0, 0, 0, 0
2 Bao et al. (1999) 11.25, 2.14723 105 ; 2.14 105 , 23161,
8.2 1010 , 15.49, 0.2584; 2.1 106 , 2.65 101
2.27 107 , 0, 0, 0, 0, 0, 0
3 Optimized for MVIL, with 1 = 10 20.2468, 0.3924, 1.9999, 0.01, 6.09, 1.95 103 ,
17.6783, 0.3999, 0.2109, 4.1 102 .
11.1604, 10.0001, 0.1918,
0.2499, 1.5165, 0.688
M.A. Garca-Alvarado et al. / Chemical Engineering Science 60 (2005) 897 905 901
Fig. 1. Simulation results of control performance for y1 response. Fig. 3. Simulation results of control performance for y1 response and
matrix transfer (26).
Table 2
PID parameters obtained for linearized CSTR control
Set Type kp1 , ki1 , kd1 , kp2 , ki2 , kd2 , rmin , IL , Var(IL ), Ie
kp12 , kp21 , ki12 , ki21 , kd12 , kd21
4 Ricatti with rii = 0.5 . . . 0.7795, 0, 0, 0.898, 0, 0, 0.16, 0.34, 0.15, 8.29 101
0.7124, 0.306, 0, 0, 0, 0
5 Optimized for MVIL, 0.5556, 0.2344, 0.5174, 0.16, 5.41, 7.34, 4.6 102
with 1 = 15 0.4333, 0.5245, 0.3439,
0.5215, 0.6769, 0.0152,
0.3315, 0.050, 0.4556
5. Conclusions
and nonlinear models. The linear model is an approximation Proposed MVIL criterion is an alternative tuning method
of the rigorous model of the CSTR, when the steady state for multivariate PID optimal control. It was shown that
is held as constant. If the steady state matrix is actualized it produces similar results to other MIMO PID tuning
in each step of RungeKutta method, the linear model is methods. In this work, the method was presented only for
equivalent to the nonlinear model. Therefore, the comparison continuous processes. We are working on a generalization
of linear dynamic simulation with respect to the nonlinear for discrete processes and on the introduction of delay
one is a way to evaluate the robustness of the MIMO PID compensation.
control. The quadratic performance index (Ie ) obtained,
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