RDA211: ADVANCED CONTROL

FOR MOBILE ROBOTS

LECTURE 07: MULTIVARIABLE CONTROL SYSTEM
INTRODUCTION
• Multivariable control system define a system in which the
variables interact strongly. This kind of system must have more
than one input and more than one output. A disturbance in any
input causes a change of response from at least one output.
INTRODUCTION
• This kind of system have as many inputs and outputs as needed to
control the process. A system with an equal number of inputs and
outputs is said to be square.
• A disturbance in any variable can cause a change in response in any
output in its signal path. Depending on the system design, these
paths can be direct or indirect.
• In most control system,a particular input disturbance cause one
output to respond by a larger percentage than the other outputs. The
response of the other output is called interaction.
Interaction is often a result of system design and cannot be avoided.
However the system must either correct or compensate for
interaction
INTRODUCTION
• To each variable (process output variable) which is to be controlled a
setpoint is given.
• To control these variables a number of control variables are available
for manipulation by the controller function.
• Multivariable processes can be difficult to control if there are cross
couplings in the process, that is, if one control variable gives a
response in several process output variables.
INTRODUCTION
There are mainly two problems of controlling a multivariable process if
these cross couplings are not counteracted by the multivariable
controller:
• A change in one setpoint will cause a response in each of the process
output variables, not only in the output variable corresponding to the
setpoint.
• Assuming that ordinary single loop PID control is used, a controller
will “observe” a complicated dynamic system which consists of the
multivariable process with all control loops! This can make it difficult
to tune each of the PID controllers, and the stability robustness of the
control system may be small.
APPLICATIONS
• A heated liquid tank where both the level and the temperature shall
be controlled.
• A distillation column where the top and bottom concentration shall
be controlled.
• A robot manipulator where the positions of the manipulators (arms)
shall be controlled.
• A chemical reactor where the concentration and the temperature
shall be controlled.
• A head box (in a paper factory) where the bottom pressure and the
paper mass level in the head box shall be controlled.
MULTIVARIABLE CONTROL CONFIGURATION
REDUCTION
MULTIVARIABLE SYSTEM
REPRESENTATIONS
STATE SPACE
THE STATE SPACE APPROACH
• State-space representation is a mathematical model of a
physical system as a set of input, output and state variables
related by first-order differential equations or difference
equations.
• State variables are variables whose values evolve over time in
a way that depends on the values they have at any given time
and on the externally imposed values of input variables.
• Output variables’ values depend on the values of the state
variables.