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Feedforward Control
M Fluid flow
More steam more V rate
heat Fluid inlet
temperature

Controlled
variable

Heat process fluid outlet temperature

The control objective is to maintain 8
Exchanger
T1-OUT at the chosen set point, despite of any disturbances, by 4
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Feedforward Control

Loop
disturbances

How to compensate for these disturbances: understanding of the

process model and the direct relation between 8
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Feedforward Control

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Feedforward Control

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Feedforward Control

G
e
n
e
r
a
l

CForward
a gain
s
e
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Cascade Controller

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Cascade Controller

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Cascade Controller

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Cascade Controller

a level controller driving the set point of a flow controller to keep

the level at its set point. The flow controller, in turn, drives a
control valve to match the flow with the set point the level
controller is being requested.

Cascade control should always be used if you have a process with relatively slow dynamics (like
level, temperature, composition, humidity) and a liquid or gas flow, or some other relatively-fast
process, has to be manipulated to control the slow process. 9
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Integrated Approach

An integrated approach that uses feedback,

feedforward and cascade control

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Problem (1)

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Side Note on Cascade Control

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Ratio Controller
Two arrangements are possible

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Ratio Controller
Combination
Two of RC
arrangements areand FB
possible

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Problem (2)
A ratio control scheme is to be used to maintain a stoichiometric ratio of H2 and N2 as the
feed to an ammonia synthesis reactor. Individual flow controllers will be used for both H 2
and N2 streams.
Draw a schematic diagram for the ratio control scheme

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Selective Control

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Override and Limit Control

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Multi-Variable Control system

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Multi-Variable Control system
To minimise interaction, it is necessary to detune the controllers, e.g. by using low gains and large reset times. This
makes for poor dynamic performance in terms of speed of response and poor disturbance rejection in terms of steady
state offset

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Multi-Variable Control system
How to design the compensators: The starting point is to establish the transfer matrix of
the closed loop system

Minimize the interaction

between the loops

Making G(s)
diagonal
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Multi-Variable Control system
Solving for C(s), results
in

Example

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Multi-Variable Control system
The principal disadvantage of multivariable controllers is that the compensators C11(s)
to C22(s) do not have the structure of a PID controller. Their form is not intuitive which is
undesirable for operational reasons. An alternative approach is to use decouplers

Affect on c0(s) due to the interaction:

An
d
For the decoupler to be effective, these two affects
must be equal and opposite: that is they cancel
each
other:

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Home Work: Wood-Berry Distillation Column Model (methanol-water
separation)
The objective is to design a decoupling IMC-based PID controller+
a feedforward injection to compensate for the disturbance d=1

Try to build a Simulink program for this problem

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