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Application of An Based Fdi and Control Scheme For The Three Tank System
Application of An Based Fdi and Control Scheme For The Three Tank System
Dept. of Control Engineering, Aalborg University, DK-9220 Aalborg,
Denmark
Dept. of Automation, Technical University of Denmark, DK-2800
Lyngby, Denmark
Abstract:
The three tank benchmark system is considered in this paper in connection with combined
feedback control and fault detection and identification (FDI). The combined design problem
is formulated as an H design problem by using a standard system setup.
x(t) = Ax(t) + Bu(t) + Bf f (t) A combined design of feedback controller and resid-
z(t) = C1 x(t) (2) ual generator based on the H design method will be
y(t) = C2 x(t) described in the following.
Let a general model be given by
where the state x(t) is defined by zc (t) = Gzc d d(t) + Gzc uc uc (t) + Gzc f f (t)
y(t) = Gyd d(t) + Gyuc uc (t) + Gyf f (t)
x1 (t) h1 (t) d(t) Rm is a disturbance signal vector, uc (t) Rp
x(t) = x2 (t) = h2 (t) is the control input vector, f (t) Rq is the fault
x3 (t) h3 (t) vector, zc (t) Rp is the external output vector,
and y(t) Rr is the measurement vector. The fault
vector f describe both actuator faults, sensor faults
where h1 (t), h2 (t) and h3 (t) are the level de-
and internal faults that can be described as additive
viations with respect to the operating point of tank
faults, see (Stoustrup et al., 1997).
1, tank 2 and tank 3, respectively. u(t) is the control
input, f (t) is the fault vector, z(t) are the states to be The H design problem for a combined feedback
controlled and y(t) is the measurement output. The controller and residual generator can be formulated in
matrices are given by terms of the following two design conditions:
The control part: The H norm of the weighted Wc1 Gzc d Wc2 Wc1 Gzc f We2
z(t) = w(t)
closed loop transfer function from external in- 0 We1 V We2
put d to external output zc is required to be
Wc1 Gzc uc 0
smaller than or equal to a specified level, i.e. + u(t)
0 We1
kWc1 Tzc d Wc2 k f , where Tzc d is the closed
y(t) = Gyd Wc2 Gyf We2 w(t)
loop transfer function from d to zc and Wci are
the two weighting matrices.
Gyuc
The FDI residual generator part: The H norm + u(t)
0
of the weighted transfer function from the vector
v = V f to the residual error ze = V f r is Designing a controller for the above system in (4)
required to be smaller than or equal to a specified gives, directly provides a abstract control vector u(t)
level, i.e. kWe1 Tze f We2 k f , where Tze f is of the form:
the closed loop transfer function from the fault
uc (t)
vector f to the residual error vector ze , Wei are u(t) =
r(t)
the two weighting matrices and V is a weighting
matrix of the fault signal. where uc (t) is the real control signal and r(t) is the
residual vector. This controller will therefore handle
It is here important to point out that the FDI problem both the feedback control problem as well as the FDI
to be solved depends strongly on the selected structure problem.
of the weight matrix V . When V is the identity matrix,
V = I, the design problem is a fault estimation Using an H design method for the design of a
problem. If V has full rank q, but is not the identity controller for the weighted system will not only give a
matrix, the problem is a fault identification problem. controller that will satisfy the closed-loop conditions
At last, if V is a 1 q matrix, the problem is a fault given above, if such is possible. The H norm of the
detection problem. Furthermore, V is not required two cross coupling closed-loop transfer functions will
to be a static matrix. Typically, dynamics will be also be bounded by . An H design will give:
included in V in identification problems. Closed-loop transfer function from disturbance
Without loss of generality, it will be assumed in the vector d to zc denoted Tzc d : kTzc d k small implies
following that c = f =: . This can always be good disturbance rejection.
obtained by proper scaling of the weighting matrices. Closed-loop transfer function from fault vector
f to zc denoted Tzc f : kTzc f k small implies that
To derive the standard system setup for the combined small, undetected faults will not influence the
controller and residual generator design, let us define output.
the following external input and output vectors Closed-loop transfer function from disturbance
vector d to ze denoted Tze d : kTze d k small re-
duces the number of false alarms.
w(t) =
d(t) Closed-loop transfer function from fault vec-
f (t) tor f to ze denoted Tze f : kTze f k small gives
(3)
zc (t) good fault detection/identification/estimation of
z(t) =
V f (t) r(t) the fault vector.
It has been pointed out in (Stoustrup et al., 1997),
that a combined feedback controller and fault estima-
Based on these two vectors, the system setup for the tor design problem can be separated into a feedback
combined design is given by: controller design problem and a fault estimator de-
sign problem. However, it is not necessary obviously
that two separate design will give the best controller
Gzc d (t) Gzc f (t) and residual generator. Using a standard H design
z(t) = w(t)
0 V method will give a controller/residual generator of or-
der n in the combined design and 2n in the separate
Gzc uc (t) 0
+ u(t) design. Furthermore, it is also clearer how to handle
0 I (4)
the cross coupling terms in the combined design.
y(t) = Gyd (t) Gyf (t) w(t)
In most FDI schemes the direct influence of faults on
Gyuc (t) the outputs is not of significant importance, since the
+ u(t)
0 operator or a supervisor is intended to take action in
the event of faults.
However, it should be noted that since the proposed
Including weighting matrices in the setup as described method is able to design a controller that minimizes
in the design conditions given above, the system setup the cross coupling transfer function from fault vector
turns out to be given by to external output zc , Tzc f , implies that the method
also comprises an approach to fault tolerant systems. considered in (Stoustrup and Niemann, 1993). In this
At least in the case where some faults might not be example, however, a normal full order H controller
detectable by the sensor signals, it is highly important will be applied.
to design the closed loop system to be fault tolerant
The important part of the design is the selection of
against such faults.
the weighting matrices. As said above, the feedback
A block diagram for the combined control/fault esti- design has not been optimized, the focus has only
mation problem is given in Figure 1. been on the fault estimation part of the controller.
The weighting matrices that need to be applied in
connection with the fault estimation part need to be
zc w
selected such that the fault is scaled to the same level.
G(s) f
In this case, it was enough to scale the fault estimation
errors individual by constant weights. The weight used
y uc in this design is
- 600 0 0
K(s)
- r We1 = 0 20 0
0 0 10
Fig. 1. Generalized setup for control and fault detec- which will give fault estimation error in the same level.
tion The standard H design method has been applied for
the design of the feedback controller/fault estimator,
see e.g. (Zhou et al., 1996), though this has required
4. APPLICATION TO THE THREE TANK some care. The regular/standard H design method
SYSTEM can not be applied directly on the three tank system,
since the rank conditions for the direct feed through
The above described design method for feedback con- matrices are not satisfied. This problem has been han-
troller/residual generator is applied on the three tank dled by using the cheap control formulation of the
benchmark problem. In this paper, the design of a problem, where the direct feed through matrices are
feedback controller/fault estimator is considered. perturbed, such that the rank conditions are satisfied,
see e.g. (Niemann and Stoustrup, 1993; Saberi and
The design derived for the three tank benchmark prob-
Sannuti, 1987). Another problem in connection with
lem is not optimized with respect to the robustness of
using an H design methods is the formulation of
the feedback loop. The main idea with the example
the fault estimation problem. As shown in Section 3,
is to show how simple it is to apply the the derived
the transfer function from the fault vector f to the
design method. For obtaining a robust design, first we
estimation error ze will include a direct term, i.e. D11
need to calculate the model uncertainties for the linear
is non zero. As a result of this, a lower bond on the
model based on the nonlinear model given in Section
H norm of the closed loop transfer function from
2. Then, based on this model description, dynamic
external input to external output is given by:
weighting matrices can be calculated for the following
H design. min kD11 k
Another important thing in connection with the bench- In this case, D11 = I. This implies that will be larger
mark problem is the fact that the fault signals enter than or equal to 1. This will give a fault estimator
all the states in the model. As a result of this, it will where the estimation error can be more than 100%.
not in general be possible to reject disturbance in the This problem can be handled in two ways. Either, the
residual signals (fault estimates) and at the same time fault estimation error can be filtered by a low-pass
get good fault estimates. Therefor, threshold values filter, i.e.
need to be derived for the residual signals with respect zef = We1 (s)ze
to the disturbance inputs. With respect to the feedback where We1 is a low pass wighting matrix, see Section
controller, rejection of the disturbance inputs will also 3. This will remove the direct feed through term D11 .
at the same time reject/minimize the effect from the In this example, a constant We1 has been selected as
fault signals on the system. This mean that we get a shown above. The other method is to model the fault
more robust feedback system with respect to the fault signal as the output signal from a low pass dynamic
inputs. In this example, disturbance inputs will not be system, i.e.
considered. f = We2 f
In connection with the design of the H feedback In this case, We2 has been selected as a diagonal
controller, we have full state information. This mean weighting matrix with three first order low pass trans-
that it is possible to design a static state feedback con- fer functions in the diagonal. The weight matrix is
troller. Further, it is also possible to include weight- given by
ing matrices at the output in the system and still use 0.001 0.001 0.001
the H state feedback design method. This has been We2 = diag( , , )
s + 0.001 s + 0.001 s + 0.001
This will result in a design problem of order 5. 5. CONCLUSION
The results of the design is shown in Figure 2 and 3.
A combined design of a feedback controller and a
A simulation of the fault estimates are given in Figure
fault estimator for the three tank benchmark prob-
2 for the three faults in the system and the water levels
lem has been considered in this paper. The standard
in Tank no. 1 and Tank no. 2 are shown in Figure 3.
H design method has been applied for the design
The fault signals to the system has been described as of the combined feedback controller/fault estimator.
step functions with amplitude 1. Fault signal no. 1 It has been verified by simulation that the derived
enter the system from t = 1 sec. to t = 3 sec. Fault no. controller/fault estimator works very well.
2 enter the system from t = 4 sec. to t = 6 sec. and
the last fault signal enter the system from t = 7 sec. to
t = 9 sec., see Figure 2. As it can be seen from Figure 6. REFERENCES
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