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AbstractMultivariable systems exhibit complex dynamics because of the interactions between input variables and
output variables. In this paper an approach to design auto tuned decentralized PI controller using ideal decoupler and
adaptive techniques for controlling a class of multivariable process with a transmission zero. By using decoupler, the
MIMO system is transformed into two SISO systems. The controller parameters were adjusted using the Model
Reference Adaptive reference Control. In recent process industries, PID and MRAC are the two widely accepted control
strategies, where PID is used at regulatory level control and MRAC at supervisory level control. In this project,
LabVIEW is used to simulate the PID with Decoupler and MRAC separately and analyze their performance based on
steady state error tracking and overshoot.
I. INTRODUCTION
Model reference adaptive control (MRAC) has non-minimum phase behavior. (i.e., right half plane
become a main research topic during the last few transmission zeros).
decades and unlike many other advanced techniques, Model predictive control techniques have been used
it has been successfully applied in industry. It is in the process industry for nearly 30 years and are
accepted that the reason for this success is the ability considered as methods that give good performance
of MRAC to optimally control multivariable system and are able to operate during long periods without
under various constraints. The control of liquid level almost any intervention. However the main reason
in tanks and flow between tanks is a basic problem in that model predictive control is such a popular
process industries. Industries face a huge number of control technique in modern industry is that it is the
interacting control loops. Most of the large and only technique that allows system restrictions to be
complex industrial processes are naturally Multi taken into consideration. The majority of all
input Multi Output (MIMO) systems. MIMO systems industrial processes have nonlinear dynamics,
are more complex to control due to inherent however most MPC applications are based on linear
nonlinearity and due to existence of interactions models. These linear models require that the original
among input and output variables. Control of non- process is operating in the neighborhood of a
linear MIMO process is challenging task. Most of the stationary point. However there are processes that
industry faces control problems that are non-linear cant be represented by a linear model and require the
and have manipulated and controlled variables. It is use of nonlinear models. Working with nonlinear
very common for models of industrial processes to models give rise to a wide range of difficulties such
have significant uncertainties, strong interactions and as, a non convex optimization problem, different
------------------
- (3)
From Eq (2),
Figure 1. Block Diagram.
e(t) = yet) - ym(t) ----------------- Where, the partial derivative term is called as the
sensitivity derivative of the system. This term
-- (1) indicates how the error is changing with respect to
the parameter . eq.(2) describes the change in the
parameter with respect to time so that the cost
MIT rule was first developed in 1960 by the function J() can be reduced to zero. Here y
researchers of Massachusetts Institute of Technology represents the positive quantity which indicates the
(MIT) and used to design the autopilot system for adaptation gain of the controller. Thefirst order
aircrafts. MIT rule can be used to design a controller process the adaptation laws are framed based on the
with MRAC scheme for any system. In this rule, a MIT rule as follows:
cost function is defined as,
For process,
----------------
--- (2)
------------
where e is the error between the outputs of plant and
model, is the adjustable parameter. Parameter is -------------- (4)
adjusted such that the cost function can be minimized
to zero. For this reason, the change in the parameter
is kept in the direction of the negative gradient of J,
ie
-------------------
(5)
For controller,
-----------------------------
(6)
Fig 2.Minimum Phase Circuit - MRAC
Output:
IV. SIMULATION RESULTS AND
IMPLEMENTATION
Output:
Output:
Output:
REFERENCES