Applied Thermal Engineering 27 (2007) 10171028 www.elsevier.

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Multivariable system identication and generic model control of a laboratory scale packed distillation column
Suleyman Karacan *, Hale Hapoglu, Mustafa Alpbaz
Ankara University, Faculty of Engineering, Chemical Engineering Department, 06100 Tandogan-Ankara, Turkey Received 14 November 2005; accepted 18 July 2006 Available online 1 November 2006

Abstract In this study, multivariable generic model control (MGMC) structure has been proposed to control of the packed distillation column. Top and bottom product temperatures of the packed distillation column were selected as controlled variables and reux ratio and reboiler heat duty as manipulated variables, respectively. Regulator problem was considered for experimental control studies. Feed mole fraction and feed temperature were chosen as load variables. Two types black box models, which were linear and non-linear was used for generic model control to control of packed distillation. A multivariable non-linear autoregressive moving average with eXternal input and auto-recursive extensive models were used for the linear black box model. The system identication toolbox in MATLAB was applied to estimate of the discrete models. Non-linear black box model for MGMC has better performance over linear black box model in the case of load disturbances. 2006 Elsevier Ltd. All rights reserved.
Keywords: Black box model; Multivariable generic model control; Experimental verication; Packed distillation column

1. Introduction 1.1. System identication and control As industrial processes such as packed distillation columns have become more integrated and more exible, the demands on their eciency have increased creating more complex operational and control problems. The diculty involved in suitable control of a distillation column stems from the non-linear column dynamic behaviour, which is asymmetric in nature. Controllers may need frequent retuning to compensate for changes in column dynamics as operating conditions change. Consequently, considerable eort is being directed to nding control strategies that give better control performance than the conventional controllers.

Corresponding author. Fax: +90 312 2121546. E-mail address: karacan@eng.ankara.edu.tr (S. Karacan).

An ideal controller should be able to adapt its parameters to compensate for load and set point changes. Adaptive control, usually based on simultaneous model identication and control, is normally employed when the actual process is non-linear. Generic model control (GMC) of Lee and Sullivan [1] is probably one of the simplest non-linear control techniques to install and maintain among non-linear model based controllers in use today. Lee and Newell [2] have demonstrated that the performance of GMC is superior over both PI control and dynamic matrix control (DMC) strategies for a forced circulation evaporator. To make the GMC algorithm more practical to be applied into industry, Zou and Lee [3] presented a process/model mismatch compensation algorithm to compensate for model errors and update the model parameters at steady-state, because it is very dicult to determine the steady state case. Brown et al. [4] presented a strategy to handle the constraints within GMC by dening GMC specication curves for both constraint variables and controlled variables.

1359-4311/$ - see front matter 2006 Elsevier Ltd. All rights reserved. doi:10.1016/j.applthermaleng.2006.07.032

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Nomenclature ai bi ci B Cp D f F g h H HL Iny ki L M Pi qi QR r* R parameters parameters parameters bottom ow rate (mol min1) heat capacity (cal mol1 C1) top product ow rate (mol min1) and eddy diusivity coecient, m2 min1) arbitrary functions feed ow rate (mol min1) arbitrary functions liquid enthalpy (cal min1) and arbitrary function vapour enthalpy (cal mol1) and liquid phase holdup in packed column holdup in packed column (mol) unit matrix of specied dimension generic model control-loop constants liquid ow rate (mol min1) molar hold-up (mol) parameters parameters reboiler heat duty (cal min1) reference rate reux ratio s t td Ti Ts u v V x y laplace transform variable time (min) dead time (min) temperature (C) sampling interval process input vector of inputoutput variables vapour phase ow rate (mol min1) system state variable or liquid composition (mole fraction) system output or vapour composition (mole fraction)

Greek letters n a constant s constant Subscripts D top product B bottom product R reux ratio L liquid phase V vapour phase

All model based controllers rely on the assumption that the process model eectively characterizes the dominant features of the process dynamics. Patwardhan et al. [5] described the application of non-linear model predictive control (NMPC) to two distributed parameter processes which were a packed distillation column and a xed-bed catalytic reactor. In each case NPC performance is superior to that of traditional linear controller. A rigorous dynamic model based on fundamental chemical engineering principles was formulated for a packed distillation column separating cyclohexanen-heptane mixture by Patwardhan and Edgar, [6]. Non-linear Model Predictive Control (NMPC) was applied to control of the top and bottom product mole fractions of the packed distillation column. Non-linear model-based scheme was used to estimate unknown/timevarying model parameters. The closed loop performance degrades away from a pre-specied trajectory, when the degree of process/model mismatch increases. The real process may dier from the process model in two ways: the rst, termed parametric mismatch, where the structure of the process model is the same as the true process, but with dierent parameters; the second, termed structure mismatch, where the structure of the process model diers from the true process. Many non-linear and linear inputoutput representations are available to model and control non-linear processes, such as, Hammerstein model (Zhu and Seborg [7]), Wiener model (Norquay et al. [8]), Non-linear state predictor

(NSP) (Wang et al. [9]), subspace-based algorithms for linear model (Stomanyor et al. [10]), Slident Identication Toolbox for linear multivariable discrete-time system identication (Sima et al. [11]). 1.2. The laboratory scale packed distillation column control There have been several academic studies on the control of the pilot scale packed distillation columns with conventional PID, generalized predictive control (GPC), dynamic matrix control (DMC) and MIMO GPC and non-linear long range predictive control by Karacan et al. [1216]. Karacan et al. [12] investigated Adaptive Generalized Predictive Control performance in controlling the overhead product of pilot a plant binary distillation column at the optimal operating conditions both experimentally and theoretically. Perturbations in feed composition were utilized as the disturbance and reboiler heat duty was selected as the manipulated variables. Hapoglu et al. [13] carried out studies on the application of Multivariable Generalized Predictive Control (MIMO GPC) to a packed distillation column. Decoupling and MIMO GPC control of overhead and/or bottom compositions were examined. Karacan et al. [14] studied optimal operating conditions that were found by using BoxWilson optimisation method and Experimental Design technique and optimal adaptive generalized predictive control (OA-GPC) were investigated for

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the packed distillation column. It was intended to keep the top product optimal condition. Comparison of OA-GPC system with PID control was investigated experimentally and theoretically. Hapoglu et al. [15] researched parametric and non-parametric model based control which are based upon GPC and DMC, respectively. The control systems were applied to control the overhead temperature of a packed distillation column separating methanolwater mixture. Alpbaz et al. [16] investigated the application of model predictive control and dynamic analysis to the laboratory scale distillation column and experimental verication. For control studies, reux ratio was chosen as a manipulated variable, so the eect of the perturbation on reux ratio to the overhead temperature was examined. Karacan [17] carried out on the non-linear long range predictive control of the laboratory scale packed distillation column. In this work, multivariable generic model control (MGMC) for a laboratory scale packed distillation column was presented. A general form of linear and non-linear black box models were obtained. The system identication toolbox in MATLAB was applied. Both linear and non-linear black box models results for MGMC has been compared with each other. 2. Controllers design Two types of black box models are proposed for on-line adaptation of distillation column: non-linear and linear models. 2.1. CMC using non-linear black box model GMC proposed by Lee and Sullivan [1] has strong advantages for developing non-linear controllers and has been used successfully as mentioned in Cot and Macchietto [18]. A brief introduction to GMC algorithm is given below. Consider a process described by the following state equations: _ x f x; u; t y gx; u; t 1 2

By letting the derivative of the process output equal the proportional integral term which operates on the dierence between the current output y it set point value ysp, the GMC can be viewed as an extension of the PID controller. However, it allows the use of non-linear models because of the implicit relationship between the control signal u and process output y in Eq. (4). The following tuning parameters k1 and k2 are suggested by Lee and Sullivan [1], where n and s characterized the target prole of the controlled variable y*. A gure outlines the relative control performance of dierent combinations of n and s is presented in Lee and Sullivan [1]. 2n 5 k 1i i si 1 k 2i 2 6 si 2.2. GMC for discrete systems Since, we want to implement GMC on discrete systems, Eq. (4) should be expressed in discrete form Dyt Dby tc 7 where D denotes the derivative operator. By discrediting Eq. (3) at t = nTs, the right-hand side of Eq. (7) is written as n X y sp j yjT s 8 Dy n k 1i y sp n yn k 2i
j0

where Ts is the sampling time. The derivative of process output D[y(t)] can be approximated by a rst order dierence Dyn yn 1 yn Ts 9

From Eqs. (8) and (9), the desired output the next sample time is then obtained as
yn 1 yn T s fk 1i y sp n yn k 2i
n X j0

y sp j yjT s g

10
Knowing y(n + 1), the control action at current time u(n) is obtained by inverting the process model (2). Top section of the packed distillation column is modeled by a non-linear black box model. The approximate model used in the non-linear black box model. Energy equation of the top of the column is described as follows: M D C P;L or dT D VC P;V T NT LR C P;L T D DC P;L T D dt 11

where x is a state vector; u is a process input, y is the process output; t is time; f and g are non-linear functions. _ Dene a reference trajectory y* and equate its derivate y to a proportional integral (PI) type function as follows; Z _ 3 y k 1 y sp y k 2 y sp ydt where k1 and k2 are tuning parameters and relate y* to the process output with _ _ y y 4

T  VC P;V T NT =M D C P;L LR C P;L T D =M D C P;L DT D =M D D Reflux rate; LR RD

12 13

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V LR D Column

Fig. 1. Top section of the column.

Vb

L1 QR Reboiler F

Energy equation of the bottom of the column is described by: M B C P;L dT B QR FC P;LF T F dt L1 C P;L T 1 V b C P;V T B BC P;L T B

14

B
Fig. 2. Bottom section of the column.

or T  QR =M B C P;L FC P;LF T F =M B C P;L B L1 C P;L T 1 =M B C P;L V b C P;V T B =M B C P;L BT B =M B 15 These equations can also be written as a single equation using vector matrix notation; 2 3 y 1 k #6 " # " # 7 " y 1 k 1 e1 k a11 a12 b11 b12 6 y 2 k 7 6 7 a21 a22 b21 b22 6 u1 k 7 y 2 k 1 e2 k 4 5 u2 k 23 Further y1(k + 1) and y2(k + 1) can be obtained from the Taylor series expansion around y1(k) and y2(k) with higher order terms neglected: y 1 k 1 y 1 k T s dy 1 k=dt y 2 k 1 y 2 k T s dy 2 k=dt 24 25

The discretization of the approximate model described by (12) and (15), following non-linear discrete time models. The non-linear dierence equation model known as the NARMAX model was referred to as the recursive presentation of the system by Hammer (1984) where the problem of uniqueness of the representation was addressed. It is easily seen that a system has innitely many dierent but inputoutput equivalent NARMAX models. In fact, let yk F yk 1; . . . ; yk ny ; uk 1; . . . ; uk nu 16 This equation is a NARMAX model of the system. A more detailed form of Eq. (12) is given Az1 yk B1 z1 uk td B2 z1 u2 k td . . . Bn un k td Cek 17

Equating Eqs. (21) and (24) provides the dierential equations for the controlled variables, which are required for GMC. _ y 1 k dy 1 k a11 1y 1 k a12 y 2 k b11 u1 k dt b12 u2 k e1 k=T s 26 dy 2 k a21 y 1 k a22 1y 2 k b21 u1 k dt b22 u2 k e2 k=T s 27

In this works, A B and C polynomial described as follows Az1 1 a1 z1 a2 z2 a3 z3 Bz b0 b1 z C 1 c1 z

1 1 1 2

18 19 20

_ y 2 k

c2 z

The overall closed-loop system with the controller is set up as shown in Fig. 1. Inputoutput variables of the process are used for the system identication to determine the coefcients of the non-linear models. 2.3. CMC using linear black box model The black box model considered for on-line adaptation is shown in Fig. 2.
y 1 k 1 a11 y 1 k a12 y 2 k b11 u1 k b12 u2 k e1 k 21 y 2 k 1 a21 y 1 k a22 y 2 k b21 u1 k b22 u2 k e2 k 22

The reference rate for the process is generated from the set point deviation as: Z r1 y 1 k 11 y 1 y 1 k 12 y y 1 dt 28 1 Z r y k 21 y y 2 k 22 y y 2 dt 29 2 2 2 2 where r and r are the desired process output rates, 1 2 y and y are the set points, and k11, k12, k21 and k22 are 1 2 the generic control loop constants. The control signals are obtained by settings: _ r y 1 D _ rB y 2 30 31

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and solving for u1 and u2 # R    1 " " b11 b12 u1 k 11 y y 1 k 12 y y 1 dt 1 1 R Ts k 21 y y 2 k 22 y y 2 dt u2 b21 b22 2 2 #    " 1 e1 y1 a12 a 11 32 1 e2 y2 a21 a22 2.4. Multivariable ARX models A multivariable ARX model is given by Az1 yt Bz1 ut et
1

where ny and nu are the number of outputs and inputs, respectively, and A and B are matrices that dene the matrix polynomials (34) and (36): A eyeny A1 A2 . . . B B0 B1 . . . Bnb Ana

2.5. Recursive parameter estimation In many cases, it may be necessary to estimate a model on-line at the same time as the inputoutput data are received. We may need the model to make some decision on-line, as in adaptive control, adaptive ltering, or adaptive prediction. It may be necessary to investigate possible time variation in the systems (or signals) properties during the collection of data. Terms lie recursive identication, adaptive parameter estimation, sequential estimation, and online algorithms are used for such algorithms. Ljung [19] deals with such algorithms in some details. 2.5.1. The basic algorithm A typical recursive identication algorithm is ^ ^ 1 Ktyt ^t h ^ ht y 37

33

Here A(z ) is an ny by ny matrix whose entries are polynomials in the delay operator z1. We can represent it as: Az1 I ny A1 z1 Ana zna as well as the matrix 2 a11 z a12 z 6 a21 z a22 z 6 6 6   Az 6 6   6 6 4   ... ... a1ny z 3 34

any1 z any2 z . . .

a2ny z 7 7 7  7 7  7 7 7  5 anyny z

where the entries akj are polynomials in the delay operator z1: akj z dkj a1 z1 akj kj znakj kj
na

35

This polynomial describes how old values of output number j aect output number k. Here dkj is the Kronecker-delta; it equals 1 when k = j, otherwise, it is 0. Similarly B(z) is an ny by nu matrix Bz B0 B1 z1 Bnb znb 36 or 3 2 b11 z b12 z . . . b1nu z 6 b21 z b22 z . . . b2nu z 7 7 6 7 6 6    7 7 Bz 6 6    7 7 6 7 6 4    5 bny1 z any2 z . . . with bkj z bkj znkkj bnb znk ij nbij 1 kj The delay from input number j to output number k is nkkj. To link with the structure denition in terms of [na nb nk] in the ARX and iv4 commands, note that na is a matrix whose kj-element is nakj, while the kj-elements of nb and nk are nbkj and nkkj, respectively. By using Identication Toolbox in the MATLAB, The theta format representation of the model (33) can be created by th arx2thA; B; ny; nu anynu z

Here ^ is the parameter estimation at time t, and y(t) is ht the observed output at time t. Moreover, ^t is a predicy tion of the value y(t) based on observations up to time t 1 and also based on the current model at time t 1. The gain K(t) determines in what way the current prediction error yt ^t aects the update of the parameter y estimate. It is typically chosen as Kt QtWt 38

where W(t) is (an approximation of) the gradient with respect to h of ^t j h. The latter symbol is the prediction y of y(t) according the model described by h. Note that model structure like AR and ARX that correspond to linear regressions can be written as yt WT h0 t et 39

where the regression vector W(t) contains old values of observed inputs and outputs, and h0(t) represents the true description of the system. Moreover, e(t) is the noise source (the innovations). The natural prediction is
y* GMC u Process y

Multivariable System Identification Parameters

Fig. 3. Multivariable generic model control structure.

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y1(TD) u1(R)

Packed Distilation model as a Black box u2(TB) Generic Model Controller

^t WT tht 1 and its gradient with respect to h bey comes exactly W(t). For models that cannot be written as linear regressions, we cannot recursively compute the exact prediction and its gradient for the current estimate h(t 1). Then approximations ^t and W(t) must be used instead. Ljung [19] y describes suitable ways of computing such approximations for general model structures. The matrix Q(t) that aects both the adaptation gain and the direction in which the updates are made, can be chosen in several dierent ways (Figs. 3 and 4). 3. Process description

y2(QR)
Fig. 4. Input and output variables of the system used.

Table 1 Physical properties of packed distillation column Packing height (mm) Inside diameter of packed column (mm) Packing type Packing diameters (mm) Feed tank volume (L) Reboiler volume (L) Total pressure (mmHg) 1000 85 Raschng 20/15 5 2 690

To check the mathematical models and solution results, a laboratory scale packed column was used to distil the binary, methanolwater mixture. Physical properties of the laboratory scale packed column are demonstrated in Table 1. All experimental equipments were shown in Fig. 5. In the experiments, overhead product composition and temperature changes with time were observed at steady-state and dynamic conditions. The column utilized has 1000 mm packing height. Packing type is Raschng ring with 2015 mm diameter. The reboiler was made from 2-L glass container. To feed the relevant liquid into the column a peristaltic pump, which

TT L 2 4 TC 5

D 10 7 8 F TT B 9 6 TT 1 TC

1, Reboiler 2, Packed Column 3, Condenser 4, Accumulator 5, Reflux Valve 6, Heat Exchanger 7, Jacket Exchanger 8,Peristaltic Pump 9, Bottom Product Valve 10, Computer
Fig. 5. Experimental equipments.

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is suitable for chemicals was utilized. Reux ratio was adjusted by a computer. The system temperature was measured with three thermocouples, which were placed into rebolier, top of the column and feed point. Each thermocouple was connected to a controller module and was transferred to the computer with a D/D converter. Temperature data measured at each second was recorded. Temperature proles observed on the computer were recorded and samples were taken regularly from the top and bottom of the column. Refractive indexes of the samples were measured. When the refractive indexes and temperatures were constant, the system at steady-state condition before control action. After steady-state condition was maintained, step disturbances were given the input variables and on-line linear and non-linear GMC algorithm program written Visual Basic language was executed by using optimal operating conditions of the packed distillation column. Top and bottom product temperature of the packed distillation column was controlled. Reux ratio and the reboiler heat duty as manipulated variables to control top and bottom product temperature, respectively. 4. Results and discussion This section describes our experience in implementing generic model control (GMC) for the product temperatures control of the top and bottom of the packed distillation column. The control main is to maintain the top product temperature in the packed distillation column at the desired set point in spite of disturbing in the form of varying feed composition and temperatures as load disturbances and set points changes. This objective is achieved by manipulating the reux ratio and reboiler heat duty of the distillation column. In this work, Firstly, Operating condition of the packed distillation column was achieved experimentally. In the initial experimental work, the reboiler was lled with a methanolwater mixture at the feed composition. When the reboiler temperature reached the boiling temperature of feed composition, cooling water was sent to the condenser. The column was operated for approximately 1 h at the total reux. After the system reached the steady-state condition, preheated mixture was fed with optimal values of ow rate to the reboiler. At the same time the reux ratio
Table 2 Experimental steady-state condition XD, Top product composition (mole fraction) XB, Bottom product composition (mole fraction) XF, Feed composition (mole fraction) F, Feed ow rate (mol min1) D, Top product ow rate (mol min1) B, Bottom ow rate (mol min1) R, Reux ratio TF, Feed temperature (C) TD, Top product temperature (C) TB, Bottom product temperature (C) QR, Reboiler heat duty (cal min1) 0.99 0.155 0.160 0.98 0.10 0.88 1.5 50.0 63.5 82 700

was adjusted to the optimal value. Within short time intervals, product samples were taken, thus compositions were recorded to computer. Similarly the time variation of temperature was observed with computer control system. When the system reached a steady-state condition, temperature and composition proles were achieved constantly. So values of the overhead and bottom temperature were observed. The experimental optimal steady-state condition is given in Table 2. 4.1. System identication results In this section, the non-linear and linear system identication results according to the NARMAX and ARX models were given using dierent input/output signals. The applicability of these models was shown and suited to identify the dynamic behavior of multivariable system. 4.1.1. Non-linear black-box model and results Two non-linear system models was obtained by using input output data with MATLAB System Identication Toolbox. First model for top product temperature and second is bottom product temperature. These NARMAX models as follows: Az1 y 1 t B0 u1 t k B1 z1 u0:25 t k Ce1 t or 1 0:969z1 0:045z2 0:0223z3 y 1 t 0:3066u1 t 1 0:1881z1 u0:25 t 1 1 1 0:1365z1 0:0035z2 e1 t where y1 is the top product temperature as one of the system output which is controlled variable; u1 is the reux ratio as the one of the system input used manipulated variable and e1 is the disturbance. Fig. 6 shows the results of the experimental data and NARMAX model for a negative step change in the reux ratio. Top product temperature increases as expect at this disturbance.

Fig. 6. Step response of experimental and NARMAX predicted model for top product temperature.

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values, n and s. Lee and Sullivan present a gure that outlines the relative control performances of dierent combinations of n and s. By replacing the chosen values of n and s, the values of the two tuning constants, k1 and k2 are obtained using the following relationships, the sampling interval in the column is 0.1 min. For non-linear generic model control algorithm; k 11 2n1 =s1 13:45 min1 ; k 21 2n2 =s2 20:34 min1 ; k 12 1=s1 11:78 min1 k 22 1=s2 9:39 min1

For linear generic control algorithm; k 11 17:24 min1 ; k 12 8:26 min1 ;

Fig. 7. Step response of experimental and NARMAX predicted model for bottom product temperature.

k 12 20:57 min1 k 22 11:76 min1

Second NARMAX model was obtained from Identication Toolbox for bottom product temperature of the system as follows; 1 98z1 0:006z2 0:024z3 y 2 t 0:0012u2 t 1 0:502z1 u0:25 t 1 2 1 0:0348z1 0:065z2 e2 t Fig. 7 indicates the results of the experimental data and NARMAX model of the bottom product temperature for a positive step change in the reboiler heat duty. It is seen that NARMAX prediction models are in good agreement with experimental data in Figs. 6 and 7. These are the NARMAX models used in the non-linear GMC algorithm. 4.1.2. Linear system identication results Linear multivariable system identication was applied for linear GMC algorithm to control of the laboratoryscale packed distillation column. A multivariable ARX model was used for the linear black box model. The System Identication Toolbox in MATLAB was applied to estimate of the linear model. First model obtained is dened for top product temperature, y1 and second model be bottom product temperature, y2 as follows: y 1 k 1 1:1986y 1 k 0:2893y 2 k 0:0487u1 k 0:1377u2 k e1 k y 2 k 1 0:2902y 1 k 0:4731y 2 k 0:0523u1 k 0:1116u2 k e2 k 4.2. Experimental control results Lee and Sullivan [1] outline a system for tuning GMC controllers based on choosing a target prole of the controlled variable x*(t). This prole is characterized by two

Reux ratio is the manipulated variable of the packed distillation column to control of the top product temperature. In the experimental system, magnetic valve adjusted with time was used as a control valve. In the online software program, controller determined controller output (u(t)) this value is appointed to nal controller element which reux ratio. If the control signal value is 0, controller valve is closed or if the control signal value is 1, control valve is opened. For example, controller output is 3, reux ratio is also 3 and Software determine forth value of manipulated variable will be 3 and than controller valve is open for 3 s (control signal is 1 as shown in Fig. 9) and closed for 7 s (control signal is 0 in same gure). 4.2.1. Generic model control results to step feed composition Non-linear and linear GMC algorithms were experimentally applied to control of the top and bottom product temperatures of the packed distillation column controlled for load disturbances. For control studies, reux ratio was chosen as manipulated variable to control top product temperature and the reboiler heat duty was chosen as manipulated variable to control the bottom product temperature simultaneously. A 12% step decrease and a 12% step increase in feed mole fraction were specially high disturbances in a laboratory scale packed distillation column
65 TD (oC) 64 63 62 0 1000 2000 Time (s) 3000 4000
NLGMC LGMC Set point

Fig. 8. Top product temperature under GMC controller with non-linear and linear black-box model in the face of step decrease of the feed mol fraction.

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8
LGMC

1025

Control Signal

NLGMC

Control signal

10.000 0.000

7 6 5 4 3 0 1000 2000 Time(s) 3000 4000

1000

2000 Time(s)

3000

4000

Fig. 9. Control variable change as reux ratio, R, using GMC controller with non-linear model.

Fig. 13. Control variable change as reboiler heat duty, QR using GMC controller with linear model.
Control signal
LGMC

10.000 0.000

1000

2000 Time(s)

3000

4000

Fig. 10. Control variable change as reux ratio, R, using GMC controller with linear model.

88 86 TB(oC) 84 82 80 78 0 1000 2000 Time(s) 3000 4000

NLGMC LGMC Set point

of load eects. The quality of the non-linear controller was compared for load eects against linear controller in the MIMO system. Multivariable control is far more dicult to implement successfully than single variable strategies due to the inherent interactive dynamics of the various column control loops. The controlled top product temperature is shown in Fig. 8, and the corresponding control variable is given in Figs. 9 and 10, when a negative step change in the feed mole fraction from 0.165 to 0.145. These gures indicate that non-linear GMC has better performance at the desired set point, 63.5 C. During the non-linear GMC, the temperature remained always close to the set point with uctuations. The suggested controller looks like an on-o type

65 64 63 62
NLGMC LGMC Set point

Fig. 11. Bottom product temperature under GMC controller with nonlinear and linear black-box model in the face of step decrease of the feed mol fraction.

TD( C)

7.0 Control signal 6.5 6.0 5.5 5.0

Control signal
NLGMC

500

1000

1500 Time(s)

2000

2500

3000

Fig. 14. Top product temperature under GMC controller with non-linear and linear black-box model in the face of step increase of the feed composition.

1000

2000 Time(s)

3000

4000

NLGMC

10.000

Fig. 12. Control variable change as reboiler heat duty, QR using GMC controller with non-linear model.

0.000

where changes in operating condition during each control work made the control dicult. This system was chosen because of its industrial importance ant its non-linear behaviors. The oscillations of the temperature around the set point in the experiments were unavoidable in the face

500

1000

1500 Time(s)

2000

2500

3000

Fig. 15. Control variable change as reux ratio, R, using GMC controller with non-linear model.

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65
LGMC

Control signal

10.000
TD( C)
o

64

NLGMC LGMC Set point

0.000

63 62

500

1000

1500 Time(s)

2000

2500

3000

500

1000

1500

2000 2500 Time(s)

3000

3500

4000

Fig. 16. Control variable change as reux ratio, R, using GMC controller with linear model.

Fig. 20. Top product temperature under GMC controller with non-linear and linear black-box model in the face of step decrease of the feed temperature.

Control signal

85 84 83 82 81 80 79 78 0

TB (oC)

NLGMC LGMC Set point

NLGMC

10.000

0.000

500

1000

1500 Time (s)

2000

2500

3000

Fig. 17. Bottom product temperature under GMC controller with nonlinear and linear black-box model in the face of step increase of the feed mol fraction.

1000

2000 Time(s)

3000

4000

Fig. 21. Control variable change as reux ratio, R, using GMC controller with non-linear model.

8.0 7.5 Control signal

Control signal

7.0 6.5 6.0 5.5 5.0 0 500 1000 1500 Time(s) 2000 2500 3000

LGMC

10.000

0.000

1000

2000 Time(s)

3000

4000

Fig. 18. Control variable change as reboiler heat duty, QR using GMC controller with non-linear model.

Fig. 22. Control variable change as reux ratio, R, using GMC controller with linear model.

9 8 Control signal
TB(oC) 86 84 82 80 78 76 0 500 1000 1500 2000 2500 Time(s)
NLGMC LGMC Set point

7 6 5 4 3 0 500 1000 1500 Time(s) 2000 2500 3000

LGMC

3000

3500

4000

Fig. 19. Control variable change as reboiler heat duty, QR using GMC controller with linear model.

Fig. 23. Bottom product temperature under GMC controller with nonlinear and linear black-box model in the face of step decrease of the feed temperature.

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7 Control signal

6
NLGMC

5 0 1000 2000 Time(s) 3000 4000

from 0.165 to 0.185. The MIMO controller handles the disturbances between sample times by measuring the error in the next sample time. The sampling interval is chosen experimentally in our system. The best sample time is found to be 0.1 min. The dierences in the performances in linear and non-linear GMC controllers come from the assumptions made in modeling and experimental errors. 4.2.2. Generic model control results to step feed temperature Another experimental study, a 53% decrease in feed temperature from 60 C to 28 C was utilized. This made a large negative load change in operating condition. The system behaved highly non-linear in this condition. When the feed temperature was changed, on line control algorithms of non-linear and linear GMC are started and manipulated reux ratio and reboiler heat duty to control the top and bottom product temperatures in each case. This results are given in Figs. 2025. Therefore, set points of the temperatures of the top and bottom product are reached at about 3500 s by using GMC on line algorithm and satisfactory results are obtained. 4.2.3. Generic model control results to step feed temperature Table 3 lists the integral square of the error (ISE) and the integral of absolute value of error (IAE) criteria values for each controlled variable response. The performances of the all controllers are compared with using these criterias, where ISE
tfin X i0

Fig. 24. Control variable change as reboiler heat duty, QR using GMC controller with non-linear model.

8.000 Control signal LGMC 6.000 4.000 2.000 0 1000 2000 Time(s) 3000 4000

Fig. 25. Control variable change as reboiler heat duty, QR using GMC controller with linear model.

Table 3 ISE and IAE values obtained for non-linear GMC and linear GMC controllers Step response Non-linear GMC ISE Negative step change in XF Fig. 8 0.58 Fig. 11 105.6 Positive step change in XF Fig. 14 1.125 Fig. 17 69.9 Negative step change in TF Fig. 20 1.45 Fig. 23 404.375 IAE 5.6 78.95 6.45 50.6 7.15 106.95 Linear GMC ISE 9.49 83.09 6.96 186.23 6.93 214.53 IAE 24.1 85.43 18.8 98.5 18.1 88.1

y sp y i ;

IAE

tfin X i0

j y sp y i j

of control since the manipulated variable is either a positive deviation (an increase in the reux ratio) or negative deviation (a decrease in the reux ratio). The controller can take process data on-line, and update the weights to proper ones in the control of the process. The system requires no prior tuning; just plug it in and turn it on. Figs. 1113 show the bottom product temperature response and corresponding control variable, respectively, when a negative step change in the feed mole fraction from 0.165 to 0.145. The bottom product temperature remained close to the set point with uctuations. The deviations were probably due to plant/model mismatch present in the experimental study. In the next experimental run, Figs. 1419 show the prole of the controlled variables reux ratio and reboiler heat duty, when a positive step change in the feed mole fraction

The introduction of non-linear modeling does not reduce the ISE in every case shown in Table 3, however, improvement in the control is clearly seen in Figs. 621. In this case, the ISE may not be the best criterion to employ as the action of the non-linear model usage causes a slightly larger initial transient. That is why the IAE criterion has also been used. There is no doubt that the introduction of non-linear modeling reduces the IAE values for each controlled variable response except Fig. 21 where the plant/ model mismatch is very high in the face of a 53% decrease in feed temperature. 5. Conclusion Two dierent types black box models were developed using GMC algorithm and successfully applied to control of the top product and bottom product temperatures of the laboratory scale packed distillation column experimentally. The System Identication Toolbox in MATLAB was applied to estimate of the NARMAX and multivariable ARX model. The structure of the non-linear and linear discrete model was identied using the measured input/output data by means of analysis on mean square errors. Parameters in the NARMAX and multivariable ARX models of

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the systems were estimated and these models were applied for GMC algorithm. GMC action based on NARMAX model was much better over linear black box model in the case of load disturbances for the feed mole fraction and temperature. Acknowledgements The authors are grateful to Ankara University, Research Foundation for its nancial support, Ankara, Turkey, Grant No.: 2002.07.45.003. References
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