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M o d e l P r e d i c ti v e C o n t r o l
( C o u p l e d Ta n k S y s t e m )
Co u r s e : Pro ce s s Mo d e l i n g a n d Co nt ro l .

Presented by;
Fazal-e-Rabbi (MS-Process Engineering)
H a m z a I m ti a z B u tt ( M S - P r o c e s s E n g i n e e r i n g )
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Coupled Tank System (CTS)

• Journal of Robotics and Automation (2017).

• DOI: 10.36959/673/354

• Objective: Performance Analysis of three

controllers (PI, PI-Feed forward and MPC) for
Tank 2 liquid level control.

• Includes Controller Design schemes and

tuning methods using MATLAB Simulink.
Comparison is based on parameters such as
Overshoot (%), Settling Time, Rise Time,
Steady State Error.
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Our Goals

Successfully design the MPC

Controller.

Reproduce the MPC controller

performance results for step
change.

Introduce some novelty and

improvement, if suitable.
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Steps in MPC Controller Design

Non-Linear
Linearization Discretizatio MPC Design
Dynamic
using Taylor n and State and Cost
Model of
Series. Space Model. Function.
System.
 Non-Linear Dynamic Model of CTS 5

Tank 1: Tank 2:

   

 
_________ (1)
____ (2)

= Fluid Velocity at Pump outlet (Manipulated Variable), = Pump outlet cross-sectional area.
= Level in tank 1, = Orifice area below tank 1, = Area of tank 1.
= Level in tank 2 (Control Variable), = Orifice area below tank 2, = Area of tank 2.
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Model Simplification
Renaming the coefficients for simplicity:

• Declaring:
,
,

• Hence, equations (1) and (2) become:

_____________ (3)
_____________ (4)
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Model Linearization
Taylor Series Expansion:

The Non-linear terms in (3) and (4) after truncation can be

approximately written as:

Where and are steady state operating values for tank 1 and 2.
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Model Linearization (Cont.)
Now eq (3) and (4) become:

(5)

(6)

At steady state conditions, the above equations can be written as:

(7)

(8)
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Model Linearization (Cont.)
Subtracting (7) from (5) and (8) from (6). Also writing the equation in
deviation variable form:
’=- ,’=- ,’=-

Hence, the linearized model equations are:

(9)

(10)
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State Space Representation (MIMO)
General form:
 
𝑑𝑥
= 𝐴( 𝑥 + 𝐴
−1
𝐵
𝑑𝑡

For our case:

[ 𝑙1
𝑙2 ]
= [ 1
0
0
1 ][ 𝑙1
𝑙2 ]
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Continuous to Discrete Time State Space Model
Using the strategy from Cameron (Lemma 11.1.1):
k= Previous time step.
k+1= Future time step.
h= Sampling time.

Integrating the state space model for the above conditions.

𝑥 ( 𝑘 +1 ) h
𝑑𝑥 ( 𝑡 )
∫ 𝑥+ 𝐴
−1
𝐵𝑢
=∫ 𝐴 𝑑𝑡
𝑥 ( 𝑘) 0

𝑙𝑛
| 𝑥 ( 𝑘 +1 )
𝑥 (𝑘)+ 𝐴
−1
𝐵𝑢 ( 𝑘 ) |
=𝐴h

𝑥 ( 𝑘+ 1 ) = [ 𝑥 ( 𝑘 ) + 𝐴 −1
𝐵𝑢 ( 𝑘 ) ] 𝑒 𝐴h
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Discrete-time State Space Model
Resolving the exponential by Taylor Series:
2
𝐴h ( h𝐴 )
𝑒 = 𝐼 + h𝐴 + +…
2!

Truncated to first order and applied to the equation:

𝑥 ( 𝑘+ 1 )= [ 𝑥 ( 𝑘 ) + 𝐴 −1
𝐵𝑢 ( 𝑘 ) ] ( 𝐼 +h𝐴 )
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State Space Representation (MIMO)
General form:

For our case:

(State Vector)

(Measurement Vector)

(Input Vector)
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State Space Representation (Cont.)
Coefficient Matrices:
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MPC Design Strategy

Step 1 Step 2 Step 3

• Change in Input with • Connecting state • Future Control
each time step. variable change to Parameters (Control
• Change in State output. Horizon, Prediction
Variable. • Augmented model Horizon).
creation. • Calculating future
state variables.
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Change in Input and State Variable
Discrete time steps:

Taking difference for equations at x(k+1) and x(k):

(A)
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Connecting Output to State Variable Change
Defining new state variable vector and output at different time steps:
𝑥 ( 𝑘 )=
[ ∆ 𝑥𝑚 ( 𝑘 )
𝑦 (𝑘) ]

Substituting values for xm(k+1) and xm(k) :

(B)
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Augmented Model
Combining equations (A) and (B) in the new state variable :

Here:
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Upcoming Presentations

MPC
Control
Parameter
s

Cost
Function

MATLAB /
SIMULINK
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