Control of Multiple-Input, Multiple-

Chapter 18

Output (MIMO) Processes

18.1 Process Interactions and Control Loop Interactions
18.2 Pairing of Controlled and Manipulated Variables
18.3 Singular Value Analysis
18.4 Tuning of Multiloop PID Control Systems
18.5 Decoupling and Multivariable Control Strategies
18.6 Strategies for Reducing Control Loop Interactions

Control of Multivariable Processes

Chapter 18

In practical control problems there typically are a

number of process variables which must be controlled
and a number which can be manipulated.
Example: product quality and throughput
must usually be controlled.

Several simple physical examples are shown in Fig.

18.1.
Note the "process interactions" between controlled and
manipulated variables.
2

Chapter 18

SEE FIGURE 18.1

in text.

Chapter 18

 Controlled Variables: xD , xB , P, hD , and hB

Manipulated Variables: D, B, R, QD , and QB

Chapter 18

Note: Possible multiloop control strategies = 5! = 120

 In this chapter we will be concerned with characterizing process

interactions and selecting an appropriate multiloop control
configuration.

Chapter 18

If process interactions are significant, even the best multiloop

control system may not provide satisfactory control.
In these situations there are incentives for considering
multivariable control strategies.

Definitions:

Multiloop control: Each manipulated variable depends on

only a single controlled variable, i.e., a set of conventional
feedback controllers.

Multivariable Control: Each manipulated variable can depend

on two or more of the controlled variables.
Examples: decoupling control, model predictive control

Multiloop Control Strategy

Typical industrial approach

Consists of using n standard FB controllers (e.g., PID), one for
each controlled variable.

Chapter 18

Control system design

1. Select controlled and manipulated variables.
2. Select pairing of controlled and manipulated variables.
3. Specify types of FB controllers.
Example: 2 x 2 system

Two possible controller pairings:

(1-1/2-2 pairing)
U1 with Y1, U2 with Y2
or
U1 with Y2, U2 with Y1
(1-2/2-1 pairing)
Note: For n x n system, n! possible pairing configurations.

Transfer Function Model (2 x 2 system)

Chapter 18

Two controlled variables and two manipulated variables

(4 transfer functions required)
Y1( s )
Y1( s )
= GP11( s ),
= GP12 ( s )
U1 ( s )
U2( s )
Y2 ( s )
Y2 ( s )
= GP 21( s ),
= GP 22 ( s )
U1 ( s )
U2( s )

(18 1)

Thus, the input-output relations for the process can be

written as:

Y1( s ) = GP11( s )U1( s ) + GP12 ( s )U 2 ( s )

Y2 ( s ) = GP 21( s )U1( s ) + GP 22 ( s )U 2 ( s )

(18 2 )
(18 3)
8

Or in vector-matrix notation as,

Chapter 18

Y ( s ) = G p ( s )U ( s )

(18 4)

where Y(s) and U(s) are vectors,

Y1 ( s )
U1 ( s )
Y(s )=
U( s ) =

Y
s
U
s
(
)
(
)
2

(18 5)

And Gp(s) is the transfer function matrix for the process

GP11( s ) GP12 ( s )
G p( s ) =

G
(
s
)
G
(
s
)
P 21

P 22

(18 6)
9

10

Chapter 18

Control-loop Interactions

Chapter 18

Process interactions may induce undesirable

interactions between two or more control loops.
Example: 2 x 2 system
Control loop interactions are due to the presence
of a third feedback loop.

Problems arising from control loop interactions

i. Closed-loop system may become destabilized.
ii. Controller tuning becomes more difficult.

11

12

Chapter 18

13

Chapter 18

Chapter 18

Block Diagram Analysis

For the multiloop control configuration, the transfer
function between a controlled and a manipulated variable
depends on whether the other feedback control loops are
open or closed.
Example: 2 x 2 system, 1-1/2 -2 pairing
From block diagram algebra we can show

Y1( s )
= GP11( s ),
U1( s )

(second loop open)

(18-7)

GP12GP 21GC 2
Y1( s )
= GP11
(second loop closed)
U1( s )
1 + GC 2GP 22
Note that the last expression contains GC2.

(18-11)

14

15

Chapter 18

16

Chapter 18

17

Chapter 18

18

Chapter 18

Relative Gain Array

Chapter 18

Provides two types of useful information:

1. Measure of process interactions
2. Recommendation about best pairing of
controlled and manipulated variables.

Requires knowledge of steady-state gains

but not process dynamics.

19

Example of RGA Analysis: 2 x 2 system

Chapter 18

Steady-state process model,

y1 = K11u1 + K12u2
y2 = K 21u1 + K 22u2
The RGA, , is defined as:
11 12
=

21
22

where the relative gain, ij, relates the ith controlled

variable and the jth manipulated variable

( yi / u j )u open-loop gain
ij 
=
( yi / u j ) y closed-loop gain

(18 24 )
20

Chapter 18

Scaling Properties:
i.

ij is dimensionless

ii.

=
ij

ij

= 1.0

For a 2 x 2 system,
1
,
11 =
12 = 1 11 = 21
K12 K 21

1
K11K 22

(18-34)

Recommended Controller Pairing

It corresponds to the ij which have the largest
positive values that are closest to one.
21

Chapter 18

In general:
1. Pairings which correspond to negative pairings should
not be selected.
2. Otherwise, choose the pairing which has ij closest
to one.
Examples:
Process Gain
Matrix, K :

Relative Gain
Array, :

1 0
0 1

K12
0

0 1
1 0

K11
0

K12
K 22

K11
K
21

0
K 22

K11
0

0
K 22

0
K
21

1 0
0 1

1 0
0 1

22

For 2 x 2 systems:

y1 = K11u1 + K12u2

11 =

Chapter 18

y2 = K 21u1 + K 22u2

1
,
K12 K 21

12 = 1 11 = 21

K11K 22

Example 1:
K11
K =
K 21

K12 2 1.5
=
K 22 1.5 2

2.29 1.29
=

.
.
1
29
2
29

Recommended pairing is Y1
and U1, Y2 and U2.

Example 2:

2 1.5
K =

1.5 2

0.64 0.36
=

0
.
36
0
.
64

Recommended pairing is Y1 with U1 and Y2 with U2.

23

Chapter 18

EXAMPLE: Thermal Mixing System

The RGA can be expressed in two equivalent forms:

Wh
T Tc
W
Th Tc

K=
Th T
T
Th Tc

Wc
Th T
Th Tc

T Tc
Th Tc

and

Wh
Wc
W
Wc + Wh

=
Wh
T
Wc + Wh

Wc
Wh
Wc + Wh

Wc
Wc + Wh

Note that each relative gain is between 0 and 1. The recommended

controller pairing depends on nominal values of T, Th, and Tc.
24

RGA for Higher-Order Systems

Chapter 18

For and n x n system,

u1 u2 "
y1 11 12 "
y2 21 22 "
=
# #
# %

yn n1 n1 "

un

1n
2 n

(18 25)

nn

Each ij can be calculated from the relation,

(18 37 )

ij = Kij H ij

where Kij is the (i,j) -element of the steady-state gain K matrix,

y = Ku

( ).

Hij is the (i,j) -element of the H = K

Note :

KH

-1 T

Example: Hydrocracker

Chapter 18

The RGA for a hydrocracker has been reported as,

u1
u2
u3
u4
y1 0.931 0.150 0.080 0.164
y2 0.011 0.429 0.286 1.154

y3 0.135 3.314 0.270 1.910

y4 0.215 2.030 0.900 1.919

Recommended controller pairing?

26

Chapter 18

Singular Value Analysis

Any real m x n matrix can be factored as,
T
K=WV
Matrix is a diagonal matrix of singular values:
= diag (1, 2, , r)
The singular values are the positive square roots of the
T
T
eigenvalues of K K ( r = the rank of K K).
The columns of matrices W and V are orthonormal. Thus,
T
T
WW = I and VV = I
Can calculate , W, and V using MATLAB command, svd.
Condition number (CN) is defined to be the ratio of the largest
to the smallest singular value,

CN 

1
r

A large value of CN indicates that K is ill-conditioned.

27

Chapter 18

Condition Number
CN is a measure of sensitivity of the matrix properties to
changes in individual elements.
Consider the RGA for a 2x2 process,
1 0
K =

10
1

= I

If K12 changes from 0 to 0.1, then K becomes a singular

matrix, which corresponds to a process that is difficult to
control.
RGA and SVA used together can indicate whether a process
is easy (or difficult) to control.
10.1 0
(K ) =

0 0.1

CN = 101

K is poorly conditioned when CN is a large number

(e.g., > 10). Thus small changes in the model for this
process can make it very difficult to control.

28

Selection of Inputs and Outputs

Chapter 18

Arrange the singular values in order of largest to

smallest and look for any i/i-1 > 10; then one or
more inputs (or outputs) can be deleted.
Delete one row and one column of K at a time and
evaluate the properties of the reduced gain matrix.
Example:
0 .4 8
K = 0 .5 2
0 .9 0

0 .9 0
0 .9 5
0 .9 5

0 .0 0 6
0 .0 0 8
0 .0 2 0
29

Chapter
Chapter18
18

0.5714 0.3766 0.7292

W = 0.6035 0.4093 0.6843
0.5561 0.8311 0.0066

0
0
1.618
1.143
0
= 0
0
0
0.0097

0.0151
0.0541 0.9984
V = 0.9985 0.0540 0.0068
0.0060 0.0154 0.9999

CN = 166.5 (1/3)
The RGA is:

2.4376 3.0241 0.4135

= 1.2211 0.7617 0.5407
2.2165 1.2623 0.0458

Preliminary pairing: y1-u2, y2-u3, y3-u1.

CN suggests only two output variables can be controlled. Eliminate one
input and one output (3x32x2).
30

Chapter 18

Question:
How sensitive are these results to the scaling of inputs and
outputs?

31

Chapter 18

Alternative Strategies for Dealing with Undesirable

Control Loop Interactions
1. "Detune" one or more FB controllers.
2. Select different manipulated or controlled variables.
e.g., nonlinear functions of original variables
3. Use a decoupling control scheme.
4. Use some other type of multivariable control scheme.
Decoupling Control Systems
Basic Idea: Use additional controllers to compensate for
process interactions and thus reduce control loop interactions
Ideally, decoupling control allows setpoint changes to affect
only the desired controlled variables.
Typically, decoupling controllers are designed using a simple
process model (e.g., a steady-state model or transfer function
model)
32

33

Chapter 18

Decoupler Design Equations

We want cross-controller, T12, to cancel the effect of U2 on Y1.
Thus, we would like,

Chapter 18

T12 GP11U 22 + GP12U 22 = 0

(18 79 )

Because U22 0 in general, then

GP12
T12 =
GP11

(18 80 )

Similarly, we want T12 to cancel the effect of U1 on Y2. Thus, we

require that,

T21GP 22U11 + GP 21U11 = 0

GP 21
T21 =
GP 22

(18 76 )
(18 78)

Compare with the design equations for feedforward control based on

block diagram analysis
34

Variations on a Theme
1. Partial Decoupling:

Chapter 18

Use only one cross-controller.

2. Static Decoupling:
Design to eliminate SS interactions
Ideal decouplers are merely gains:

K P12
T12 =
K P11

(18 85)

K P 21
T21 =
K P 22

(18 86 )

3. Nonlinear Decoupling
Appropriate for nonlinear processes.
35

Chapter 18

Wood-Berry Distillation Column Model

(methanol-water separation)

CT

Feed F
Reflux R

Distillate D,
composition (wt. %) XD
Steam S
CT

Bottoms B,
composition (wt. %) XB

36
36

Chapter 18

Wood-Berry Distillation Column Model

12.8e s

16.7 s + 1
y1 ( s )
y ( s) =
2
7 s
6.6e
10.9 s + 1

18.9e 3s

21s + 1

19.4e 3s
14.4 s + 1

u1 ( s )
u ( s )
2

(18 12)

where:
y1 = xD = distillate composition, %MeOH
y2 = xB = bottoms composition, %MeOH
u1 = R = reflux flow rate, lb/min
u1 = S = reflux flow rate, lb/min

3737

Chapter 18