MASTER IN INDUSTRIAL CONTROL ENGINEERING

UNIVERSITY OF IBAGUE - COLOMBIA

2014-2015

MULTIVARIABLE CONTROL
OCTOBER 2014

LOGO

NOT SO LONG AGO:

YESTERDAY:

We take for granted the availability of many products in our daily life. Little we know of what
complex process and ingenious (control) engineer is behind it all.

HITCHCOCKS (1899-1980) NIGHTMARE:

SHOWER-WATER TEMPERATURE REGULATION

All real-world systems comprise multiple interacting

variables.
For example, one tries to increase the flow of water in a
shower by turning on the hot tap, but then the temperature
goes up. The objective is to control both flow and
temperature.

AND WHAT ABOUT DELAY?

MICHELANGELOS (1475 -1564)

DREAM: HE BELIEVED HE
COULD FLY

TODAY: DREAM BECAME REALITY

For the thinking men and women:

Imagine what will happen if the aerodynamic engineer, combustion engineer, electrical engineer, mechanical
engineer and control engineer would all work independently of each other. Would YOU still trust to fly with
the result of their works put together? Probably NOT.
The message is clear: INTERACTION is the KEY to SUCCESS. Team work implies cross-coupling ideas and
..cross-coupling control loops. Thus MULTIVARIABLE CONTROL.
How many interacting loops in an airplane? How many of them have constraints? How many loops are
sleeping during normal operation and become active during emergency?

ANESTHESIOLOGISTS NIGHTMARE: DEPTH OF ANESTHESIA REGULATION

General Anesthesia is a combination of several states of the biological

system which interact: muscle relaxation, hypnosis and analgesia
Automatic regulation of depth of anesthesia was introduced in clinical
practice as late as of 90s.

Some of the first controllers were not very robust.WITH DISASTRUOUS

CONSEQUENCES IN THE DAWN OF TODAYS MIMO CONTROL STATE OF ART

PETRO-CHEMICAL
INDUSTRY:
A FUEL REFINERY

PULP AND PAPER MILL INDUSTRY

AND WHATS ON YOUR
DESK ?

CONTINUOUS CASTING LINE CONTROL

Laser cutting
while moving

Variations in height in the turndish result in variations in thickness !

Accurate control must be achieved within mms!

AUTOMOTIVE INDUSTRY

The car as a network of about 20000 subsystems and much more sensors. Part of the
so-called Internet of things through GPS,
Wi-Fi, GSM, etc. Cloud information needs to
deal with huge amount of data in real time
and filter necessary input (risk analysis) to
ensure safety in drivers assistance programe.

WHATS IN YOUR CAR ?

Emerging Problems of the 21st Century

Save 20% of Energy by 2020

11

ORC for Waste Heat

Recovery
Geo-Thermal/
Industrial waste heat

Heat

work

Heat Source
Evaporator
Solar radiation

Expander
Generator
Pump
Condenser
Power Out

Exhaust gases of trucks

Receiver

Cooling water

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Manufacturer

FLY

Control
Engineer:
correct
coupling
CRASH

Helicopter of 2 DOF - Quanser -

Main System Components

Data acquisition board: the measuring and
control board is a Q4; this versatile board
provides an extensive range of input and
output support.
High resolution - 14-bit inputs
High speed sampling up to 350kHz
Simultaneous sampling of A/D, digital and
encoder inputs
Extensive I/O: 4 each of A/D, D/A, encoders
& 16 digital I/O on the same board
PWM outputs on-board
Real-time control software: PC equipped
with QuaRC-Simulink configuration.
Helicopter Plant: Quanser 2-DOF Helicopter
aerospace experiment.
Power module: The experiment uses a
Quanser UPM-1503 and a UPM-2405.
Joystick: Logitech Attack-3 USB joystick, or
another windows-enabled joystick.

Kinematics of the Helicopter

Figure 1. Dynamics of 2 DOF Helicopter

Figure 2. Kinematics of the helicopter

System Dynamics
Nonlinear equations of Motion
!#$%&' + )*%+, . +.) / 0 = 2'' 3)' + 2'4 3)4 6' ! )*%+, . +.)/ 8/ .9:! :,<! )*%+, . =. +.) .9:!

!#$%&' + )*%+,. +.) / .12/ 34 = 6'7 8)7 + 6'' 8)' :' ! + /)*%+,. +.) / .123 2,<3 ! 3

State-space representation
(
(
! = $%, ', %, '*
() ()

!
# = %# + '(
!"
!
# = %# + '(
!"

"

! " = [%, ']

Linear state model around zero, to describe the voltage to angular position dynamics
0
0
!=#
0
0

0
0
0
0

1
0
9.275
0

1
!=#
0

0
1

0
0

0
1
/
0
3.496

0
&
0

0
0
!=#
2.367
0.241

0
!=#
0

0
0
.
0.07898
0.7913

0
%
0

Green = reference;

Blue = model;

Red = real data

Green = reference;

Blue = model;

Red = real data

Distillation Column

The reflux flow (u1) is

chosen to control the top
mol fraction of ethanol
(y1), while the reboiler
steam flow (u2) is chosen
to control the
composition of the
bottom product (y2)
Y1 ( s) G11 ( s) G12 ( s) U1 ( s)
Y ( s) = G ( s) G ( s) U ( s)
22
2 21
2

With time in minutes, we have the linearized model valid around one operating point:

0.66e 2.6 s
G11 ( s ) =
6 .7 s + 1

0.66
6.7s+1

0.0049e s
G12 ( s ) =
9.06 s + 1

Transport
Delay1

G1

Scope

-0.347
Transport
Delay2

G21

Add

0.87*11.6s+0.87
Step1

conv([3.89 1],[18.8 1])(s)

Add3

G22

2
u1

K=1

Transport
Delay3

u1

1.5

y1

K=100
y1

1
u2

Signals

Signals

Gain1

8.15s+1

0.5

0.5

u2

0
-0.5
-1

Add1

9.06s+1

OPEN LOOP DYNAMIC

STEP TEST

0.87(11.6 s + 1)e s
G22 ( s ) =
(3.89 s + 1)
18.8s + 1

1.5

-0.0049

-K-

0.347e 9.2 s
G21 ( s ) =
8.15s + 1

Transport
Delay

G11

Add2

Step

-0.5

y2

500

1000

1500
Samples

2000

2500

-1

y2
500

1000

1500
Samples

2000

2500

 Assume we design two PI controllers for G11 and G22 ,

while ignoring G12 and G21
Compare for K=1 and K=100
0.25
0.15
C1 ( s) = 1 +
C2 ( s ) = 1 +
s
s
0.66
s+0.25
s
Step

Add2

y1

6.7s+1
G11

C1

Transport
Delay

-0.49
u1

To Workspace1
Add1

9.06s+1
G12

To Workspace3

Transport
Delay1

Scope

-0.347

u2

8.15s+1
To Workspace2

G21
s+0.15

Step1

Add3

Transport
Delay2

Add

y2

num(s)

conv([3.89 1],[18.8 1])(s)

C2

G22

To Workspace
Transport
Delay3

6
2

y1

K=1

K=1

1.5
1

Signals

Signals

0.5

c1
3
2

y2

c2

1
-0.5

y1

1.5

Signals

0
1000 1500 2000 2500 3000 3500 4000 500
6
Samples

1
0.5
y2

K=100

Control Effort

500

1000 1500 2000 2500 3000 3500 4000

Samples
c1

K=100

4
3
c2

0
1

-0.5
500

1000 1500 2000 2500 3000 3500 4000

Samples

500

1000 1500 2000 2500 3000 3500 4000

Samples

l All industrial plants have multiple variables used to control the plant
(manipulated variables = inputs) and multiple variables that have to be
controlled (outputs).
l A change in a manipulated variable implies effects in all other variables
(more or less pronounced, depending on the strength of interaction
between sub-systems)
l A controller trying to reduce the effect of such a change in an input
variable; may de-stabilize other control loops - this may lead to
instability of the entire plant !
l Obviously, these kinds of interaction are complex to understand and, as
a result, they make control-system design interesting.
l Of course, one could attempt to solve the problem by using several
SISO control loops, but this might not prove satisfactory.
l The objective of this specialized course is to give insight to the control
engineer about the possibilities of SISO control and their limitations,
and possible MIMO solutions
l Pitfalls and bottlenecks can be avoided by various techniques

COMPETENCES
Understand interacGons between sub-systems
and their incidence on the closed loop
performance and limitaGons
Decide on degree of nonlinearity, opGmal pairing
and scaling for numerical opGmizaGon
Decide on suitable control strategy
Analyse robustness and sensiGvity for reference
trajectory and for disturbance rejecGon
Analyse stability of the mulGvariable closed loop

AN EXAMPLE OF EVERYDAY CONVERSATION:

What are you doing for a living ?
-Im doing research in control.
- Interesting. What kind of control?
- Oh, automatic control.
- Automatic control of what?
- Oh, of everything. Its everywhere.
CONTROL IS UBIQUITOUS AROUND US

Researchers at the University of MissouriRolla are working on developing the

world's first flapping-wing, unmanned
aircraft driven entirely by solar power.

Meet Rex, the Intelligent Humanoid

Robot (London, Jan 2013)

ADDITIONAL READING FOR THE UNSATIABLE ONES:

(all can be found as PDF on Internet and in our library)

1. MulGvariable Feedback Control, by

S. Skogestad and I. Postlethwaite
2. PID Control, by
M. Johnson and M. Moradi
3. Control System Design by
Salgado, Goodwin, Graebe

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