(CHAPTER, THREE CONTROL OF LUMPED PARAMETER SYSTEMS 3.1 INTRODUCTION In this chapter we shall consider the control of lumped parameter processes, processes described by ordinary differential equations. These include both single-variable and multivariable dynamic systems. We shall begin with a discussion of some of the key concepts and practical difficulties encountered in lumped parameter control system design. Some of the control system design procedures available for linear multivariable systems shall be presented and illustrated with examples. Following this we shall introduce optimal control theory, which represents one approach to control system design, and which provides a theoretical foundation helpful in understanding material to be ‘covered later in the book. Finally, we shall discuss special techniques which may be used for nonlinear dynamic systems. To provide a very simple example of the type of problem we shall be attacking and to clarify a number of concepts, let us consider the simple, well-stirred, steam-heated mixing tank shown in Fig. 3.1. It is used to mix and preheat a recipe of reactants before passing them to a chemical reactor. Now let us suppose that we wish to design a scheme for controlling the effluent temperature T(J) to a desired value T, by manipulating the steam rate Q(¢) with valve v. ‘An open-loop control scheme for such a process would involve programming the steam valve position over time without benefit of feedback information, such as a tank effluent temperature measurement. Such a scheme might be useful if @ very good mathematical model of the process were available, €.2., a FG-7), OW a ¥— * Voc, 70) = To G12) and one had the start-up problem of driving 7(1) from the initial condition Ty to GD) 940 ADVANCED PROCESS CONTROL stem Openoor A} —FA, set ew A se + Figure 3:1. seam-heated mixing tank. Ge ni yl Tn opp ec pay ol 5 ere tee Fant cbc Pope on gel be eae ain a 2 eee Se rom de oc wan el ee eo nen eee foe cae eee ee ay one peice See ee a ee aay tie te Solgar og a ene epcieetleaeat triers (PID) controller given by a= aealen- met fin na +X Danny wes tg ty he ont ance Hove vl lio Tene cn une chars oer be al Le ee ae eh eee eter ol schemes for processes described by ordinary differential equations. 3.2 LINEAR MULTIVARIABLE CONTROL SYSTEMS Perhaps the most commonly encountered control system design problem in the process industries is the design of multivariable control systems. If the process under study is linear, a very general model in the time domain (so-called state‘CONTROL OF LUMPED PARAMETER SYSTEMS 41 cariable notation) is Ba acs Buta X(t) = Xo (32) y=Cx (322) where is a k vector of disturbances, is an n vector of states, is an m vector of controls (manipulated variables), and va v2 yo w is an [ vector of outputs (those states or combination of states which can be measured). The matrices a a a bu ba bm] an a by 2 . 2m a-|® fy male ” Gn 4, Ont Pam cu te ein Mm Me Ye aed Sol eel ™ “ns ve