Hybrid Genetic Algorithm-Swarm

Intelligence Based
Tuning of Temperature Controller Fo
Continuously Stirred Tank Reactor

By

Dr. Ravi Kumar Jatoth

Asst Professor
Department of ECE
NIT-Warangal
India-506004

AGENDA
Introduction to CSTR
Need for Controller
Performance of Conventional PID
controller
Need for Intelligent Controller
Hybrid GA-PSO
Simulations and results
Conclusions
References

REACTOR
A container or apparatus in which
substances
are
made
to
react
chemically, esp. one in an industrial
plant.
Ex Nuclear Reactor.

1/

1
20
/
0

Tc

CSTR Considered

Need for Temperature

Control
Reactions in CSTR may be exothermic or
endothermic depending upon the reactants
used. Irrespective of the reaction the
temperature must be kept constant in CSTR,
by supplying a coolant for exothermic or
giving heat energy for endothermic reaction,
so that there is not much change in the
reactor temperature as for most reactions a
fixed temperature of reactor must be
maintained for reactions to occur

CSTR Temperature Control

Severe nonlinearity with variations in
temperature.
Effective gain and time constant vary
with temperature.
Disturbances include feed flow,
composition, and enthalpy upsets,
changes in the enthalpy of the heating or
cooling mediums, and fouling of the heat
transfer surfaces.

Mass Balance

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General Control System Arrangement

Plant:
Asystemtobecontrolled
Controller: Providestheexcitationfortheplant;
Designedtocontroltheoverallsystembehavior

Desirable Controller
Quick
Features
responding

Adequate disturbance rejection

Insensitive to model, measurement errors
Avoids excessive controller action
Suitable over a wide range of operating conditions
Impossible to satisfy all Alternatives for Controller Design
Tuning correlations - limited to lst order and dead time
Closed loop transfer function - analysis of stability
Repetitive simulation (computer and interactive graphics)
Frequency response-stability and performance (computer
graphics)
On-line controller cycling (field tuning)

and

PIDcontroller

Basic Control Actions: u(t)

U ( s)
Proportion al control : u(t ) K p e(t )
Kp
E (s)
t
U ( s) Ki
Integral control : u(t ) K i e(t )dt

E (s)
s
0
d
U ( s)
Differenti al control : u(t ) K d e(t )
Kd s
dt
E (s)

ThecharacteristicsofP,I,andDcontrollers
Aproportionalcontroller(Kp)willhavetheeffectofreducing
therisetimeandwillreduce,butnevereliminate,the
steady-stateerror.
Anintegralcontrol(Ki)willhavetheeffectofeliminatingthe
steady-stateerror,butitmaymakethetransientresponse
worse.
Aderivativecontrol(Kd)willhavetheeffectofincreasing
thestabilityofthesystem,reducingtheovershoot,and
improvingthetransientresponse.
EffectsofeachofcontrollersKp,Kd,andKionaclosedloopsystemaresummarizedinthetableshownbelow.

Proportionalcontrol(PController)
Fromthetable(shownbellow),weseethattheproportional
controller(Kp)
reducestherisetime,
increasestheovershoot,and
reducesthesteady-stateerror.
CL
RESPONS
E

RISE
TIME

OVERSH
OOT

Kp
Ki

Decrease
Decrease

Increase
Increase

Kd

Small
Change

Decrease

SETTLING
TIME

S-S
ERROR

Small Change Decrease

Increase
Eliminate
Decrease

Small
Change

Proportional-Derivativecontrol
(PDController)
Now,let'stakealookataPDcontrol.Fromthetable,wesee
thatthederivativecontroller(Kd)reducesboth
theovershootandthesettlingtime.
CL
RESPONS
E

RISE
TIME

OVERSH
OOT

Kp
Ki

Decrease
Decrease

Increase
Increase

Kd

Small
Change

Decrease

SETTLING
TIME

S-S
ERROR

Small Change Decrease

Increase
Eliminate
Decrease

Small
Change

Proportional-Integral-Derivativecontrol(PID
Controller)
Now,let'stakealookataPIDcontroller.Theclosed-loop
transferfunctionofthegivensystemwithaPIDcontrolleris:

CL
RESPONS
E

RISE
TIME

OVERSH
OOT

Kp
Ki

Decrease
Decrease

Increase
Increase

Kd

Small
Change

Decrease

SETTLING
TIME

S-S
ERROR

Small Change Decrease

Increase
Eliminate
Decrease

National Institute of Technology- Warangal

Small
Change

Performance Criteria for Closed-loop

systems
Must be stable.
Provide good disturbance rejection---minimizing
the effects of disturbance.
Have good set-point tracking---Rapid, smooth
responses to set-point changes
Eliminate steady state error (zero offset)
Avoid excessive control action.
Must be robust( or insensitive) to process
changes or model inaccuracies.

PID Tuning
Controller tuning---the process of
selecting the controller parameters
to meet given performance
specifications
PID tuning rules---selecting controller
parameter values based on
experimental step responses of the
controlled plant
The first PID tuning rules proposed by
Ziegler and Nichols in 1942

Ziegler-Nichols PID Tuning

Use the proportional controller to
force sustained oscillations

PID Tuning---Second Method

Measure the period of sustained
oscillation

PID Tuning

Performance Indices

A performance index is a quantitative measure of the

performance of a system and is chosen so that emphasis is
given to the important system specifications.
A system is considered an optimum control system when
the system parameters are adjusted so that the index
reaches an extremum value, commonly a minimum value.

Performance Indices
There are several performance indices:
1. Integral of the square of the error, ISE

ISE

e ( t) dt

2. Integral of the absolute magnitude of the error, IAE

IAE

e( t ) d t

3. Integral of time multiplied by absolute error, ITAE

ITAE

t e( t ) d t

4. Integral of time multiplied by the squared error, ITSE

ITSE

t e ( t) dt

Goal of Controller design

The general form of the performance
integral is
T
J f ( e(t ), r (t ), y (t ), t )dt
0

The goal of control system design is to

minimize the performance indices by
selecting suitable controller
parameters.

Need for Genetic Algorithms

Genetic Algorithms (GA) have
received a great deal of impetus due
to their enormous capability for
handling
complex
optimization
problems.

33

Genetic Algorithm
Genetic Algorithm (GA) was proposed
by Holland at the University of
Michigon in 1975.
This algorithm derives its strength
from Darwinian principle of survival
of fittest mechanism.

34

Principle of Natural Selection

Select The Best, Discard The Rest

Two important elements required for any
problem before a
genetic algorithm can be used for a solution are:
Method for representing a solution (encoding)
Ex: string of bits, numbers, character
Method for measuring the quality of any
proposed solution,
using fitness function
Ex: Determining MSE and weights of the filter35

GA Elements

36

GA Operators

37

Genetic algorithm
Genetic Algorithm which was proposed by Holland
derives its strength from the Darwins Survival
Of The Fittest mechanism.
Begin

Initialize
population
Evaluate
Solutions
T =0 (first step)
Optimum
Solution?

N
Selection

Y
T=T+1
(go to next step)

Stop

Crossover
Mutation
38

Particle
Swarm
Optimizatio
n

39

PARTICLE SWARM OPTIMISATION

PSO is a stochastic optimization technique based on the
movement and intelligence of swarms.
PSO applies the concept of social interaction to problem solving.
It uses a number of agents (particles) that constitute a swarm
moving around in the search space looking for the best solution.
Each particle is treated as a point in a N-dimensional space which
adjusts its flying according to its own flying experience as well
as the flying experience of other particles.

40

41

42

PARTICLE SWARM OPTIMISATION

Loop until all

particles exhaust

INSTALIZE PARTICLES WITH RANDOM MOTION

AND VELOCITY VECTORS
FOR EACH PARTICLES POSITION (p) EVALUATE
FITNESS
IF FITNESS (p) BETTER THAN FITNESS (pbest)
THEN (pbest=p)
SET BEST OF pbests AS gbest
UPDATE PARTICLES VELOCITY AND POSITION

STOP: GIVING gbest, OPTIMAL SOLUTION

43

Loop until maximum iterations

START

44

PSO Parameters

Size of the swarm " no of birds=30;

Maximum number of "birds steps=30;
Dimension of the problem =3;
PSO parameter C1= 2.05
PSO parameter C2 =2.05
pso momentum or inertia w= 0.45
search space for Sd= 0 t0 0.5
search space for qx= 0 t0 0.01
search space for qy= 0 t0 0.01
45

Drawbacks of GA and PSO

One advantage of PSO over GA is its algorithmic
simplicity
Another clear difference between PSO and GA is
the ability to control convergence.
(Crossover and mutation rates can subtly affect the convergence of GA,
but these can not be analogous to the level of control achieved through
manipulating of the inertia weight)

The drawback of PSO is that the swarm may

prematurely converge
(Reason for this problem is the fast rate of information flow between
particles, resulting in the creation of similar particles with a loss in diversity
that increases the possibility of being trapped in local optima).

Another drawback is stochastic approaches have

problem-dependent performance
The problem-dependent performance can be
addressed through hybrid mechanism46

Hybridization

The main problem with PSO is that it prematurely

converges (Van den Bergh and Engelbrecht 2004) to stable
point, which is not necessarily maximum. To prevent the
occurrence, position update of the global best particles is
changed. The position update is done through some hybrid
mechanism of GA.
The idea behind GA is due to its genetic operators
crossover and mutation. By applying crossover operation,
information can be swapped between two particles to have
the ability to fly to the new search area.
The purpose of applying mutation to PSO is to increase the
diversity of the population and the ability to have the PSO
to avoid the local maxima.

47

PSO-GA
In this model the initial population of PSO
is assigned by solution of GA.
The total numbers of iterations are equally
shared by GA and PSO.
First half of the iterations are run by GA
and the solutions are given as initial
population of PSO. Remaining iterations
are run by PSO.

48

Hybrid GA-PSO

49

SIMULATIO
N AND
RESULTS

Simulations and Results

Simulation Parameters
S.no Process variable
.
1
2
3
4
5
6
7
8
9
10
11
11
12
12

Concentration
Reactor temperature
Volumetric flow rate
Reactor volume
Feed concentration
Feed temperature
Coolant temperature
Coolant flow rate
Heat of reaction
Reaction rate constant
Activation
Activation energy
energy term
term
Heat
Heat transfer
transfer term
term

Normal
operating
condition
0.0885mol/L
441.1475K
100L/min
100L
1mol/L
350K
350K
97L/min
2cal/mol
7.2/min
9980K
9980K
7cal/min*K

Controller Parametrs
S.
no.

Algorit
hm

Kp

Ki

Kd

Z-N

0.2

0.95

0.23

GA

0.202

6.090

.2000

PSO

1.042

0.400
00

0
4

0.361

GA+PS
7.570
O
4

1
4

10

0.435

Transfer function based feedback control approach for

concentration control of CSTR with disturbance

Step Response for CSTR teprature change using ISE as the Fitness function

1.6

GA+PSO
GA
PSO
Z-N

1.4
1.2

Output

1
0.8
0.6
0.4
0.2
0

10

15
Time

20

25

30

Step response of CSTR taking IAE as fitness function

1.6

GA+PSO
GA
PSO
Z-N

1.4

O u tp u t

1.2
1
0.8
0.6
0.4
0.2
0

10

15
Time

20

25

30

Dynamic response Parameters with

different algorithms used
.

S.no

Algorith
m

Peak
Settle
Rise
over
time
time
shoot

IAE

Time
to
process

Z-N

1.632

7.8651

0.939

1.826

0.230

GA

51.98

10.745

0.718

1.638

106.7

PSO

22.76

12.536

1.757

1.757

248.97

GA+PSO

6.048

1.8911

0.351

0.187

209.68

Conclusions
This paper present a controller design mechanism to regulate the
temperature of CSTR when there is a sudden change in the inflow
concentration and flow rate which may generate or take heat energy
depending upon endothermic or exothermic reaction. The controller
needs to be tuned to maintain constant temperature. The
conventional controller design is done by Ziegler-Nicols method, in
the resent literature soft-computing tools like PSO was used to tune
PID controller for temperature optimization. Implementation of GA,
PSO tuned PID controller reveled that the transient behavior was
better as compared to conventional Ziegler-Nicols method. To
overcome the limitations of GA and PSO tuning, a hybrid of GA-PSO
algorithm was proposed to tune PID controller from the above stated
simulations and results it can be concluded that hybrid GA-PSO tuned
PID controller has a better performance.

Ramappa Temple

The whole of science is nothing more

than a refinement of everyday
thinking

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