International Scholarly Research Network

ISRN Electronics
Volume 2012, Article ID 134580, 8 pages
doi:10.5402/2012/134580

Research Article
Using LQG/LTR Optimal Control Method to Improve Stability
and Performance of Industrial Gas Turbine System

Fereidoon Shabaninia and Kazem Jafari

School of Electrical Engineering, Shiraz University, Shiraz, Fars, Iran

Correspondence should be addressed to Fereidoon Shabaninia, shabanif@ecs.csus.edu

Received 27 April 2012; Accepted 3 July 2012

Academic Editors: C. W. Chiou and M. Hopkinson

Copyright © 2012 F. Shabaninia and K. Jafari. This is an open access article distributed under the Creative Commons Attribution
License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly
cited.

The gas turbine is a power plant, which produces a great amount of energy for its size and weight. Its compactness, low weigh, and
multiple fuels make it a natural power plant for various industries such as power generation or oil and gas process plants. In any of
these applications, the performance and stability of the gas turbines are the end products that strongly influence the profitability of
the business that employs them. Control and analyses of gas turbines for achieving stability and good performance are important
so that they have to operate for prolong period. Effective control system design usually benefits from an accurate dynamic model of
the plant. Characteristic component parts of the system are considered in this model. Gas turbine system is described by specified
thermodynamic equations that can be used for defining its model. This paper introduces an optimal LQG/LTR control method
for a gas turbine. Analysing the gas turbine dynamic in time and frequency domain by using proposed control compared to PID
controller is followed. Applying this optimal control method can provide good performance and stability for the component parts
of system.

1. Introduction In some practical circumstances, the dynamics of con-

The object of a control system is to make the outputs behave
in a desired way by manipulating the plant inputs [1]. So the
control systems are being required to deliver more accurate
and better overall performance in the face of difficult and
changing operating conditions [2]. Many complex engineer-
ing systems are equipped with several actuators that may
influence their static and dynamic behavior. Systems with
more than one actuating control input and more than one
sensor output may be considered as multivariable systems or
multi-input multioutput (MIMO). The control objective for
multivariable systems is to obtain a desirable behavior of
several output variables by simultaneously manipulating
several input channels [3]. The feedback control systems are
widely used in design controller. Optimal control design is
one choice for many MIMO systems. Linear Quadratic Gaus-
sian and Loop Transfer Recovery (LQG/LTR) is an optimal
control problem whose name is derived from the fact that
it assumes a linear system, quadratic cost function, and Gaus-
sian noise.
trolled plant may not be exactly modeled, and there may be
system disturbances and measurement noises in the plant.
The LQG/LTR controller can provide good performance and
guaranteed stability in the face of such noises [3, 4]. More
details about this method can be consulted in [1, 3, 5–7].
Effective control system design usually benefits from an accu-
rate model of the plants.
The system to be investigated is a gas turbine. Various
approaches such as Fuzzy [8], MPC [9], and Neural Network
[10] are used for control of different types of this system. The
aim of the present paper is to design an optimal LQG/LTR
controller for this system. Gas turbines are widely used as
source of power generation. Some features such as ease of
installation and maintenance, high reliability, and quick
response have made it an attractive means of producing
mechanical energy [11]. There are literature on the modeling
of gas turbine that described the system by mathematical
dynamic equations [12, 13] or transfer function block dia-
gram [14, 15]. Gas turbine model dynamic equations in [9]
are used for control object. In this model, all states, inputs,
2 ISRN Electronics

and outputs are related by nonlinear mathematical equa- Nonlinear state equations of gas turbine system in [9, 20]
tions. describe the gas turbine model and are used for control
Next sections are concerned with a general description of objects in this paper. This model is based upon the character-
the gas turbine system, definition of its model, LQG/LTR istics of the component parts of system such as pressure and
method, and introducing state space model and simulation temperature in compressor, plenum, turbine, and rotational
results. Matlab mfile commands are used for this idea. PID speed.
(Proportional Integrated Derivative) control [1] is applied to The compressor pressure (pcomp ) is relative to air mass
this system to compare results. flow rates in compressor (ṁcomp ), plenum (ṁbl ) blow off
valve (ṁbl ) inlet pressure ambient temperature, and com-
pressor temperature according to nonlinear dynamic equa-
2. System Description tion as follows [9, 20]:
Gas turbines are designed for many different purposes. In d pcomp γR    
the petroleum industry, they are commonly used to drive = ṁcomp Tcpout − ṁpl ṁbl Tcomp , (1)
dt Vcomp
compressors for transporting gas through pipelines or
generators that produce electrical power. The gas turbine is a where
constant flow cycle with a constant addition of heat energy. It  (γ−1)/γηcomp
is commonly referred to as the Brayton cycle [16, 17]. Gas pcomp
Tcpout = Tin ,
turbine consists basically of a compressor, combustion pin
chamber, and turbine. The compressor draws air from the    (2)
ambient and increases the pressure of the incoming air. The 2pcomp A2 comp pcomp − ppl
pressurized and hot air then used as combustion air in ṁpl = .
ξRTcomp
combustion chamber, in which a fuel is injected and com-
busted continuously. The hot pressurized gases are then Nonlinear dynamic equation of turbine temperature is
expanded slightly above atmospheric in turbine and cause to
produce rotational speed at output. When compressing the dTtbin
air, power is required and when expanding the hot gas dt
through the turbine, power is generated [11]. The gas turbine  
is the best suited prime mover when the needs at hand such as RT Ttbin cpcomp power
= γT ṁthr Tccin − ṁtb Ttbin +
capital cost, time from planning to completion, maintenance ptbin Vcc cpT cpT
costs and fuel cost, are considered [18].
The design of any gas turbine must meet essential criteria −Ttbin (ṁthr − ṁtb ) ,
based on operational considerations such as high efficiency,
high reliability and thus high availability, ease of service, ease (3)
of installation and commission, flexibility to meet various
service and fuel needs, conformance with environmental where
standards, and auxiliary and control systems. The two fac-  (γ−1)/γ
Ptbin
tors, which most effect high turbine efficiencies, are pressure Tccin = Tpl . (4)
ppl
ratios and temperature. High-pressure ratios and turbine
inlet temperatures improve efficiencies on the simple cycle Rotational speed described by
gas turbine. It should also be noted that the very high-pres-
sure ratios tend to reduce the operating range of the turbine dN
compressor [18]. dt
Auxiliary systems and control systems must be designed    1
carefully, since they are often responsible for the downtime in = ṁtb cpT (Ttbin − Ttbout ) − ṁcomp cpcomp Tcpout − Tin ,
NI
many units. Control systems provide acceleration time and (5)
temperature time controls for startups as well as control
various antisurge valves. At operating speeds they must reg- where γ = c p /cv is specific heat capacity ratio, R is gas
ulate fuel supply and monitor vibrations, temperatures, and constant (Nm/kg K), I is inertia (Kg m2 ), ξ is friction factor,
pressures throughout the entire range [18]. and η is efficiency.
Other parameters state by specific nonlinear dynamic
equations same as these at [9, 20].
3. Gas Turbine Model The state space model of gas turbine is defined with 5
inputs as
Gas turbine system is described by nonlinear mathematical
 
equations that used thermodynamic principle rules such as U = ṁcomp ṁbl ṁthr ṁtb power . (6)
conservation of total mass, energy, and ideal gas equation
[2, 12, 17, 19]. The investigation of steady state behavior of And 7 states as
gas turbine in terms of static turbine characteristic is a  
traditional area in engineering [12]. X= pcomp Tcomp ppl Tpl ptbin Ttbin N . (7)
ISRN Electronics 3

y Suppose the plant is generally described by the dynamic

u + x^ +
B 1 C equations in the form of state-space representation as
sI −
+ + follows:

A x^ ẋ(t) = Ax(t) + Bu(t) + Γw(t),

(9)
Kf y(t) = Cx(t) + v(t),

Figure 1: The Kalman filter. where x(t) ∈ Rn , u(t) ∈ Rm , and y(t) ∈ Rq are the states,
inputs, and outputs vectors, respectively, A ∈ Rn×n , B ∈
Rn×m , Γ ∈ Rn× p , C ∈ Rq×n are the system states, inputs of
To CRT display plant, inputs of disturbance, and outputs matrices, respec-
Fuel tively. The system disturbance w(t) and the measurement
Temperature noise v(t) are p- and q-dimensional uncorrelated Gaussian
white noise processes with zero-mean, and the associated
To CRT display
covariance matrices are defined as
Minimum FSR
value Fuel  
Speed system E wwT = W ≥ 0, E vvT = V  0,
select
logic
 (10)
Acceleration
rate E wvT = 0,
To turbine
To CRT
display
Start up where E{·} is an expectation function operator, and W and
Shut V are the system disturbance and measurement noise covari-
down
Manual ance matrices, respectively. The problem is then to devise a
Figure 2: Simplified control schematic.
feedback control low which minimizes the cost:
 
T 
T T
J = lim E z Qz + u Ru dt , (11)
T →∞ 0
Parameters of this model are defined as bellows:
where Z = Mx is some linear combination of the states, and
ṁcomp , ṁbl , ṁthr , , ṁtb : Mass flows through compres- R = RT  0, Q = QT ≥ 0 are weighting matrices.
sor, blow off, throttle, and turbine, respectively The solution to the LQG problem is prescribed by the
(kg/s). seperation principle, which states that the optimal result is
achieved by adopting the following procedure. First obtain
pcomp , ppl , ptbin : Pressure at compressor, plenum, an optimal estimate x of the state x, optimal in the sense that
and turbine, respectively (pa). E{(x − x)T (x − x)} is minimized, and then use this estimate as
Tcomp , Tpl , Ttbin : Temperature at compressor, ple- if it was an exact measurement of the state to solve the deter-
num, and turbine, respectively (k). ministic linear quadratic control problem. The point of this
procedure is that it reduces the problem to two sub problems,
the solutions to which are known.
The system dynamic equations can be expressed as The solution to the first subproblem that of estimating
follows the state is given by Kalman filter theory. Figure 1 shows the
·
block diagram of a Kalman filter, which is seen to have the
X = f (X, U). (8) structure of a state observer; it is distinguished from other
observers by the choice of gain matrix k f . Note that the
inputs to the Kalman filter are the plant input and output
vectors, u and y, and that its output is the state estimate
vector x.
4. LQG/LTR Method The second subproblem is to find the control signal
which will minimize the cost:
Linear quadratic Gaussian or LQG problem is a method
based on optimal control theory. The main results of this  T 
theory are stated in this section. But fuller details can be J= zT Qz + uT Ru dt. (12)
0
referred to [1, 3, 5–7]. This method is one which allows the
designer to shape the principle gains of the return ratio at
either the input or the output of the plant, to achieve required On the assumption that
performance or robustness specifications. Stability is ob-
·
tained automatically [3]. x= Ax + Bu (13)
4 ISRN Electronics

×105
3.5 8
7
3
6

Turbine temperature (K)

Compressore pressure (Pa)

2.5
5
2 4

1.5 3
2
1
1
0.5
0
0 −1
0 5 10 15 0 5 10 15
Time (s) Time (s)

Uncontrolled system LQG controlled system Uncontrolled system LQG controlled system
LQR controlled system LQG/LTR controlled system LQR controlled system LQG/LTR controlled system
(a) (b)
0

−0.01

−0.02
Rotational speed (rev/s)

−0.03

−0.04

−0.05

−0.06

−0.07

−0.08

−0.09
0 5 10 15
Time (s)

Uncontrolled system LQG controlled system

LQR controlled system LQG/LTR controlled system
(c)

Figure 3: Step response of the compressor pressure (a), turbine temperature (b), and rotational speed (c) respect to compressor mass flow
rate.

the solution to this is to let the control signal u be a linear It is shown that the kalman filter and optimal state feedback
function of the state: are asymptotically stable [3].
The equation of the combined Kalman filter-optimal
u = −Kc x, (14)
state feedback scheme is
where Kc is the state feedback matrix gain.
Kc and k f are obtained from solution of algebraic Riccati d x A −BKc x Γw
= + . (17)
equations [3, 5]. dt x K f C A − K f C − BKc x Kf v
By substitute (14) in to (13):
·
If ε define as state estimation error, ε = x − x, then above
x= (A − BKc )x, (15) equations can be rewritten as
as the equation of the close loop system. d x A − BKc BKc x Γw
From Figure 1, The state equation of the Kalman filter is = + , (18)
dt ε 0 A − Kf C ε Γw − K f v
to be
d  
x = A − K f C x + Bu + K f y. (16) which shows that the close loop eigenvalues of the LQG
dt compensated plant are just the union of eigenvalues of the
ISRN Electronics 5

×104
12 7

10 6
Compressor pressure (Pa)

Turbine temperature (K)

5
8
4
6
3
4
2
2
1
0 0

−2 −1
0 5 10 15 20 25 30 35 40 45 50 0 20 40 60 80 100 120 140
Time (s) Time (s)

PID control PID control

LQG/LTR control LQG/LTR control
(a) (b)
0
−0.01
−0.02
Rotational speed (rev/s)

−0.03
−0.04
−0.05
−0.06
−0.07
−0.08
−0.09
−0.1
0 5 10 15 20 25
Time (s)

PID control
LQG/LTR control
(c)

Figure 4: Step response of the compressor pressure (a), turbine temperature (b), and rotational speed (c) respect to compressor mass flow
rate for LQG/LTR and PID control.

optimal state feedback scheme with those of the Kalman model is minimum phase and that it has at least as many
filter. The overall scheme is therefore internally stable under inputs as outputs. Alternatively, the LQG loop transfer func-
the stated assumption [3]. tion can be made to approach state feedback transfer func-
tion by designing k f in the Kalman filter to be large using spe-
cific procedure. Again, it is necessary to assume that the plant
5. Loop Transfer Recovery (LTR) model is minimum phase and that it has at least as many
outputs as inputs [1, 3, 5, 6].
Since both the optimal state feedback regulator and the
Kalman filter have such good properties, it might be expected
that LQG compensator would generally yield good robust- 6. State Space Description
ness and performance. Unfortunately, this is not the case
and the LQG designs can exhibit arbitrarily poor stability The state space detailed model of gas turbine at a given oper-
margins [3]. ation point helps to understand the dynamic behavior of sys-
The LQG loop transfer function can be made to approach tem. A nonlinear model can capture the dynamic behavior of
filter transfer function with its guaranteed stability margins if gas turbine system [12]. By using nonlinear equations de-
Kc , state feedback gain, is designed to be large by specific scribed at [9, 20], a linear time invariant, LTI, model of the
procedure [1, 3, 5, 6]. It is necessary to assume that the plant gas turbine is developed for control purposes. LTI state space
6 ISRN Electronics

×10−8 ×10−5
16 7
14 6

Turbine temperature (K)

12 5
Rotational speed (rev/s)

10
4
8
3
6
2
4
2 1

0 0

−2 −1
0 0.5 1 1.5 2 2.5 3 0 0.5 1 1.5 2 2.5 3
Time (s) Time (s)

LQR controller LQR controller

LQG/LTR controller LQG/LTR controller
(a) (b)

Figure 5: Impulse response of the rotational speed (a) and turbine temperature (b) respect to power.

1.6 32.5 MW output power. Combustion section has 12 multiple

1.4 combustors with reverse flow type.
1.2 Control of the gas turbine in providing the shaft horse
Turbine temperature (K)

1
0.8
0.6
0.4
0.2
0 It contains a number of control protection and sequencing
−0.2
−0.4
0 1 2 3
LQR controller
LQG/LTR controller
Figure 6: Impulse response of the turbine temperature respect to
mass flow rate of compressor.
model derived by using Jacobian method [1] at operation
condition for MS5002D General Electric gas turbine system.
Matlab and Control toolbox used for creating this model.
Validation of this model is done by measurement data with
Matlab mfile commands [21] and so at [9].
The MS5002D mechanical drive gas turbine is used to
drive a centrifugal load compressor to compress treated gas
and deliver export gas at 90 bar pressure for export via
pipeline. The gas turbine is that part of the mechanical drive
gas turbine, exclusive of control and protection devices, in
which fuel and air are processed to produce shaft horsepower.
Gas turbine axial air compressor has 17 stages with 10.75 : 1
pressure ratio. The output shaft speed is 4670 rpm with
power required by the operation or process is accomplished
using parameters such as fuel flow, compressor inlet pressure,
compressor discharge pressure, shaft speed, compressor inlet
temperature, and turbine inlet or exhaust temperature [19].
The SPPEDTRONIC MARK VI turbine control is the
current state of the art control for General Electric turbine.
systems designed for reliable and safe operation of the gas
turbine [22].
4 5 6 7 8 9 10 Control of the turbine is done mainly by startup, speed,
Time (s) acceleration, synchronization, and temperature control. Fig-
ure 2 illustrates the three control modes and the means of
fuel control in relation to the fuel command signal. Sensors
monitor the turbine speed, temperature, and compressor
discharge pressure to determine the operating conditions of
the unit. When it is necessary for the turbine control to alter
the turbine operating conditions because of changes in load
or ambient conditions, it is accomplished by modulating
the flow of fuel to the turbine. For example, if the exhaust
temperature starts to exceed its permitted value for a given
operating condition, the temperature control circuit will
cause a reduction in the fuel supplied to the turbine and
thereby limit the exhaust temperature.
Operating conditions of the turbine are sensed and
utilized as feedback signals to the SPEEDTRONIC control
system. There are three major control loops—startup, speed,
and temperature, which may be in control during turbine
operation. These loops command fuel stroke reference
(FSR), the command signal for fuel. The outputs of these
control loops are connected to a minimum value select algo-
rithm as shown in Figure 2. The minimum value select algo-
rithm selects the lowest FSR called for by the control loops
and passes the result to the FSR controller. The action of
ISRN Electronics 7

SV diagram of main system SV diagram of return ratio at input for LQG/LTR controlled system
150 100
100 0
50 −100
0
Singular values (dB)

−200

Singular values (dB)

−50
−300
−100
−400
−150
−500
−200

−250 −600

−300 −700

−350 −800
10−2 100 102 104 106 108 1010 10−2 100 102 104 106 108 1010
Frequency (rad/s) Frequency (rad/s)
(a) (b)

Figure 7: Singular value diagram of main system (a) and return ratio at input for LQG/LTR controlled system.

this circuit is similar to a low-voltage selector. The lowest 7. Simulation Results

voltage output of the control loops is allowed to pass the
gate to the fuel control system as the controlling FSR voltage.
Using this method of FSR selection, switching between the
control modes of speed, temperature, and startup control
takes place without any discontinuity. The controlling FSR
will establish the fuel input to the turbine at the value
required by the system which is in control. Displays on the
turbine control panel CRT indicate which of the control
systems is controlling FSR [22].
Matlab mfile commands used for simulating gas turbine
system [21]. The value of inlet temperature is equal to 321 k
that can be changed. The state weighting matrix Q and the
control weighting matrix R are chosen by use Bryson’s rule
[5]. Often, this choice is just the starting point for a trial and
error iterative design procedure aimed at obtaining desirable
properties for the close loop system [5].
The gain matrix of state feedback controller Kc is
obtained as:

⎡ ⎤
1.1481 −2055 1.3219 −3967.8 0.0016442 −1.7117 −1.3466e-007
⎢ −1.1648 2057.9 −1.3435 4025.5 −0.0020121 2.0259 1.578e-007 ⎥
⎢ ⎥
⎢
Kc = ⎢ −1.1653 2076.7 −1.3454 4041.4 0.074836 −45.208 −1.4127e-007⎥ ⎥ ∗ 1e−6 , (19)
⎢ ⎥
⎣0.00087393 −19.741 0.0011058 −21.969 −0.12122 60.776 −2.0258e-007⎦
A B C D E F G

where A: 1.463e − 010, B: 7.8539e − 007, C: −8.3254e −
010, D: 8.4805e − 006, E: 4.6762e − 008, F: −1.3999e − 00 =
and G: 4.3014e − 013.
Analysis the gas turbine dynamic in time and frequency
domain by using LQG/LTR control method and with com-
pare to PID controller is flowed. Step response, impulse
response and principal gain consider for simulation. Figure 3
shows the unit step response of the compressor pressure, tur-
bine temperature and rotational speed respect to compressor
mass flow rate for LQR, LQG and LQG/LTR controller design
of proposed gas turbine. So that to compare the results, unit
step response of these parameters for LQG/LTR and PID
control is shown in Figure 4.
Simulation results for rotational speed and turbine tem-
perature by using impulse function as input to power depict
in Figure 5 for LQR and LQG/LTR controller design. Also
Figure 6 shows impulse response of the turbine temperature
respect to mass flow rate of compressor.
The structure singular value can be used to analyze the
ability of a given design on achieves robust performance
[1, 3]. Singular value or principal gain plot for main system
and controlled system by LQG/LTR are shown in Figure 7.
8. Conclusion
This paper introduces the gas turbine systems. Control and
satisfactory performances are important concept for this
system. By using thermodynamic equations, a nonlinear dy-
namic model is specified to study control objects. A gas
turbine type is considered and its control system is described.
Analyses the system is followed by making LTI state space
model obtained of linearization nonlinear dynamic model
8 ISRN Electronics

and apply suggested LQG/LTR optimal control method. By
LQG/LTR controller, and set parameters of this control by
specified procedure, simulation results in time and frequency
domain are achieved. To compare results, we use PID control
method for described system model.
System analysis shows response of uncontrolled dynam-
ics and effect of LQR, LQG, and LQG/LTR controller de-
signed and PID control. LQG/LTR controller improved
principal gain diagram to attain good performance. With
LTR method a satisfactory return ratio is recovered at the
plant input.
Settling times of system characteristic component parts
by using LQG/LTR controller are shorter, and stability of
system makes it better by applying this optimal control
method.
[16] H. Cohen, G. F. C. Rogers, and H. I. H. Saravanamuttoo, Gas
Turbine Theory, Longman, Scientific and Technical, 1996.
[17] A. M. Y. Razak, Industrial Gas Turbine: Performance and
Operability, Woodhead Publishing limited and CRC press
LLC, 2007.
[18] M. P. Boyce, Gas Turbine Engineering Handbook, Gulf Profes-
sional Publishing, 3rd edition, 2006.
[19] T. Giampaolo, Gas Turbine Handbook: Principles and Practices,
The Fairmont Press, 3rd edition, 2006.
[20] C. H. J. Meuleman, Measurment and Unsteady Flow Modeling
of Centrifugal Compressor Surge, University of Technology,
Eindhoven, Netherlands, 2002.
[21] Matlab Refrence Guide, The Mathworks, 2010.
[22] GE Power System, “SPEEDTRONIC MARK VI Turbine
Control System,” Phases 9 & 10 Refinery, 2007.

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Antennas and Active and Passive Advances in
Propagation Electronic Components Shock and Vibration Acoustics and Vibration
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Volume 2014 http://www.hindawi.com Volume 2014 http://www.hindawi.com Volume 2014 http://www.hindawi.com Volume 2014 http://www.hindawi.com Volume 2014