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Chen 1
Aspen DMC Plus
Dynamic Modeling
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Open-Loop Testing
Finite Step Response (FSR) Model

t
MV
i=0 i=1 i=k
...
CV
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Step Response Model
The simplest identification is to make a step
change of MV and observe the change in CV in
open loop
From MV and CV data a model vector a
is obtained


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Prediction
Lets assume several MV moves are carried out
at t = 0, t = t, t = 2 t , where t = sampling time
The matrix A is derived from the vector a by
adding columns starting at later times preceded
by 0s and by adding the final steady state values
to all preceding columns
By assuming linear behavior (proportional &
additive, i.e., super-imposing), then CV =
A*MV
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Model Predictive Control - Prediction
CV^1
CV^2
CV^3
.
.
.
CV^i
=
a1 0 0
a2 a1 0
a3 a2 a1
.
.
.
.
.
.
.
.
.
ai ai-1 ai-2
MV^1
MV^2
MV^3
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Given an open-loop DMC model coefficient vector a = (0.5, 2.0, 3.5, 4.5, 5.0) between an MV

and a
CV

and the following known MV moves MV = (3, 2, 1, 1), determine A
T
, CV
3
and CV
5
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Open-Loop Model Identification (1)
In real world tests, many MV moves and CV
changes are recorded.
MV is a matrix with the first column recording
all the MV moves, the 2nd column starting with 0,
then the same MV moves, the 3rd column
starting with 0, 0, then the same MV moves, etc.
a is a model vector to be determined.
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Open-Loop Model Identification (2)

MV* a = CV
For known CV and MV, a can be solved

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Open-Loop Model Identification (3)
There are more equations in MV* a = CV
than unknowns (elements in a ). This is called
an over-determined system.
An over-determined system is typically
encountered in regression.
The system is reformulated as The Normal Equation:
MV
T
*MV* a = MV
T
*CV
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Open-Loop Model Identification (4)
In the previous slide, There are 7 equations in
MV* a = CV and 4 unknowns (elements in a).
There are 7 MV moves (I
1
-I
0
= MV
1
, I
2
-I
1
=
MV
2
, etc.), 7 CV changes (CV
1
,, CV
7
) and
4 elements in a (a
1
, a
2
,

a
3
, a
4
).
MV is a 7X4 matrix, a is a 4X1 vector, and
CV is a 7X1 vector.
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Open-Loop Model Identification (5)
So the problem is reformulated as MV
T
*MV* a =
MV
T
*CV
MV
T
is the transpose of MV. Transpose is the mirror
image of the original matrix w.r.t. its main diagonal. An
element originally in the i,j position (ith row, jth column)
will be placed in the j,i position (Jth row, ith column). So
MV
T
is a 4x7 matrix.
The reformulated system MV
T
*MV is 4x4 and
MV
T
*CV is 4x1. We have an exactly-determined
system that can be solved by Gaussian Elimination. This
equation is called the normal equation derived from the
least-squares principle.
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FIR Model Identification (1)
In Finite Impulse Response model, the difference of
successive CV responses is taken. Therefore, the
identification equations become CV = CV^ =
MV* a = MV* b
We solve MV
T
*MV* b = MV
T
*CV^
Then a
1
= b
1
,

a
2
= b
1
+ b
2
,

a
3
= b
1
+ b
2
+ b
3
, etc.
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FIR Model Identification (2)
There are 7 equations in MV* b = CV^ and 4
unknowns (elements in b ).
There are 4 MV moves (I
1
-I
0
= MV
1
, I
2
-I
1
=
MV
2
, etc.), 7 successive CV changes (CV^
1
,, CV^
7
) and 4 elements in b (b
1
, b
2
,

b
3
, b
4
).
MV is a 7X4 matrix, b is a 4X1 vector, and
CV^ is a 7X1 vector.
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Simultaneous Identification Structure
The simultaneous identification in the previous
slide has this partitioned structure
CV^
1
= [MV
1
MV
2
] * b
1

b
2

Two MVs are moved at the same time for one
CV response. We determine both model
coefficients at the same time.
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DMC Identification, Prediction, and
Control Law
MV
T
*MV* b = MV
T
*CV^ Identification
CV = A* MV Prediction
A
T
*A* MV = A
T
*(CV
Target
- CV
Open
) Control
CV
Open
is the anticipated CV change from MV
already implemented up to the present time.
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Smoothing
The identified coefficients may not be a
smooth curvebecause they are just
numbers from regressions!
Smooth factor tries to make a smoothed
curve
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DMC Model File Structure
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Example
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