ADAPTIVE MODEL PREDICTIVE CONTROL

FOR A ROTARY FLEXIBLE LINK

GUIDED BY:PROF.E.VINODH KUMAR

October 28, 2019

VISWANATHAN K - 18MAC0013 ADAPTIVE MODEL PREDICTIVE CONTROL FOR A ROTARY

OVERVIEW OF CONTENTS

1. Model Plant Mismatch(MPM).

2. Types of MPM.
3. Diagnosis of MPM by Plant Model Ratio(PMR).
4. Simulations and their Results.
5. Improvements in PMR to MIMO Systems.
6. References.

VISWANATHAN K - 18MAC0013 ADAPTIVE MODEL PREDICTIVE CONTROL FOR A ROTARY

MODEL PLANT MISMATCH

VISWANATHAN K - 18MAC0013 ADAPTIVE MODEL PREDICTIVE CONTROL FOR A ROTARY

MODEL PLANT MISMATCH

* There is a constant drive to improve the perofrmance of existing

control schemes and to optimize the overall plant performance.

VISWANATHAN K - 18MAC0013 ADAPTIVE MODEL PREDICTIVE CONTROL FOR A ROTARY

MODEL PLANT MISMATCH

* There is a constant drive to improve the perofrmance of existing

control schemes and to optimize the overall plant performance.
* However, one can note that controllers often fail to operate
according to their design specifications and, in many cases, they
even increase the process variability.

VISWANATHAN K - 18MAC0013 ADAPTIVE MODEL PREDICTIVE CONTROL FOR A ROTARY

MODEL PLANT MISMATCH

* There is a constant drive to improve the perofrmance of existing

control schemes and to optimize the overall plant performance.
* However, one can note that controllers often fail to operate
according to their design specifications and, in many cases, they
even increase the process variability.
* Reasons for poor controller performance are:

VISWANATHAN K - 18MAC0013 ADAPTIVE MODEL PREDICTIVE CONTROL FOR A ROTARY

MODEL PLANT MISMATCH

* There is a constant drive to improve the perofrmance of existing

control schemes and to optimize the overall plant performance.
* However, one can note that controllers often fail to operate
according to their design specifications and, in many cases, they
even increase the process variability.
* Reasons for poor controller performance are:
1. Improper controller tuning.

VISWANATHAN K - 18MAC0013 ADAPTIVE MODEL PREDICTIVE CONTROL FOR A ROTARY

MODEL PLANT MISMATCH

* There is a constant drive to improve the perofrmance of existing

control schemes and to optimize the overall plant performance.
* However, one can note that controllers often fail to operate
according to their design specifications and, in many cases, they
even increase the process variability.
* Reasons for poor controller performance are:
1. Improper controller tuning.
2. Poor hardware maintainence.

VISWANATHAN K - 18MAC0013 ADAPTIVE MODEL PREDICTIVE CONTROL FOR A ROTARY

MODEL PLANT MISMATCH

* There is a constant drive to improve the perofrmance of existing

control schemes and to optimize the overall plant performance.
* However, one can note that controllers often fail to operate
according to their design specifications and, in many cases, they
even increase the process variability.
* Reasons for poor controller performance are:
1. Improper controller tuning.
2. Poor hardware maintainence.
3. Valve Stiction.

VISWANATHAN K - 18MAC0013 ADAPTIVE MODEL PREDICTIVE CONTROL FOR A ROTARY

MODEL PLANT MISMATCH

* There is a constant drive to improve the perofrmance of existing

control schemes and to optimize the overall plant performance.
* However, one can note that controllers often fail to operate
according to their design specifications and, in many cases, they
even increase the process variability.
* Reasons for poor controller performance are:
1. Improper controller tuning.
2. Poor hardware maintainence.
3. Valve Stiction.
4. Model Plant Mismatch(MPM).

VISWANATHAN K - 18MAC0013 ADAPTIVE MODEL PREDICTIVE CONTROL FOR A ROTARY

MODEL PLANT MISMATCH

* There is a constant drive to improve the perofrmance of existing

control schemes and to optimize the overall plant performance.
* However, one can note that controllers often fail to operate
according to their design specifications and, in many cases, they
even increase the process variability.
* Reasons for poor controller performance are:
1. Improper controller tuning.
2. Poor hardware maintainence.
3. Valve Stiction.
4. Model Plant Mismatch(MPM).
5. Stochastic Disturbances.

VISWANATHAN K - 18MAC0013 ADAPTIVE MODEL PREDICTIVE CONTROL FOR A ROTARY

MODEL PLANT MISMATCH

* There is a constant drive to improve the perofrmance of existing

control schemes and to optimize the overall plant performance.
* However, one can note that controllers often fail to operate
according to their design specifications and, in many cases, they
even increase the process variability.
* Reasons for poor controller performance are:
1. Improper controller tuning.
2. Poor hardware maintainence.
3. Valve Stiction.
4. Model Plant Mismatch(MPM).
5. Stochastic Disturbances.
* This presentation deals mainly with Model Plant Mismatch
which is represented as MPM.

VISWANATHAN K - 18MAC0013 ADAPTIVE MODEL PREDICTIVE CONTROL FOR A ROTARY

TYPES OF MPM

VISWANATHAN K - 18MAC0013 ADAPTIVE MODEL PREDICTIVE CONTROL FOR A ROTARY

TYPES OF MPM

* Model Plant Mismatch is broadly divided into:

VISWANATHAN K - 18MAC0013 ADAPTIVE MODEL PREDICTIVE CONTROL FOR A ROTARY

TYPES OF MPM

* Model Plant Mismatch is broadly divided into:

1. Structured Mismatch.

VISWANATHAN K - 18MAC0013 ADAPTIVE MODEL PREDICTIVE CONTROL FOR A ROTARY

TYPES OF MPM

* Model Plant Mismatch is broadly divided into:

1. Structured Mismatch.
2. Unstructured Mismatch.

VISWANATHAN K - 18MAC0013 ADAPTIVE MODEL PREDICTIVE CONTROL FOR A ROTARY

TYPES OF MPM

* Model Plant Mismatch is broadly divided into:

1. Structured Mismatch.
2. Unstructured Mismatch.
* Structured Mismatch deals with the change in the entire
structure of the model i.e. order of the system can be changed.

VISWANATHAN K - 18MAC0013 ADAPTIVE MODEL PREDICTIVE CONTROL FOR A ROTARY

TYPES OF MPM

* Model Plant Mismatch is broadly divided into:

1. Structured Mismatch.
2. Unstructured Mismatch.
* Structured Mismatch deals with the change in the entire
structure of the model i.e. order of the system can be changed.
* Unstructured Mismatch deals with the change in model
parameters i.e. only the parameters like gain, delay, time constant
are changed.

VISWANATHAN K - 18MAC0013 ADAPTIVE MODEL PREDICTIVE CONTROL FOR A ROTARY

DIAGNOSIS OF MPM BY PLANT MODEL
RATIO(PMR)

VISWANATHAN K - 18MAC0013 ADAPTIVE MODEL PREDICTIVE CONTROL FOR A ROTARY

DIAGNOSIS OF MPM BY PLANT MODEL
RATIO(PMR)

* MPM can be diagnosed by using a quantifying technique called

Plant Model Ratio(PMR), which is the ratio of process transfer
function and model transfer function.

VISWANATHAN K - 18MAC0013 ADAPTIVE MODEL PREDICTIVE CONTROL FOR A ROTARY

DIAGNOSIS OF MPM BY PLANT MODEL
RATIO(PMR)

* MPM can be diagnosed by using a quantifying technique called

Plant Model Ratio(PMR), which is the ratio of process transfer
function and model transfer function.
* It allows one to obtain a unique mapping between its signatures
and changes in process characteristics.

VISWANATHAN K - 18MAC0013 ADAPTIVE MODEL PREDICTIVE CONTROL FOR A ROTARY

DIAGNOSIS OF MPM BY PLANT MODEL
RATIO(PMR)

* MPM can be diagnosed by using a quantifying technique called

Plant Model Ratio(PMR), which is the ratio of process transfer
function and model transfer function.
* It allows one to obtain a unique mapping between its signatures
and changes in process characteristics.
*

Figure:

VISWANATHAN K - 18MAC0013 ADAPTIVE MODEL PREDICTIVE CONTROL FOR A ROTARY

PMR Continued...

VISWANATHAN K - 18MAC0013 ADAPTIVE MODEL PREDICTIVE CONTROL FOR A ROTARY

PMR Continued...
* Gain Mismatch:

Figure:

Figure:

Figure:

VISWANATHAN K - 18MAC0013 ADAPTIVE MODEL PREDICTIVE CONTROL FOR A ROTARY

SIMULATION RESULTS

Figure:

VISWANATHAN K - 18MAC0013 ADAPTIVE MODEL PREDICTIVE CONTROL FOR A ROTARY

IMPROVEMENTS IN PMR TO MIMO SYSTEMS

VISWANATHAN K - 18MAC0013 ADAPTIVE MODEL PREDICTIVE CONTROL FOR A ROTARY

IMPROVEMENTS IN PMR TO MIMO SYSTEMS

* In MIMO Systems, the input and output relations invlove

interactions.

VISWANATHAN K - 18MAC0013 ADAPTIVE MODEL PREDICTIVE CONTROL FOR A ROTARY

IMPROVEMENTS IN PMR TO MIMO SYSTEMS

* In MIMO Systems, the input and output relations invlove

interactions.
* Therefore, the extension of the proposed approach to the
multivariate systems involves an additional step of decoupling
these interactions.

VISWANATHAN K - 18MAC0013 ADAPTIVE MODEL PREDICTIVE CONTROL FOR A ROTARY

IMPROVEMENTS IN PMR TO MIMO SYSTEMS

* In MIMO Systems, the input and output relations invlove

interactions.
* Therefore, the extension of the proposed approach to the
multivariate systems involves an additional step of decoupling
these interactions.
* This can be carried out by means of the partial coherence
function.

VISWANATHAN K - 18MAC0013 ADAPTIVE MODEL PREDICTIVE CONTROL FOR A ROTARY