Multiloop and Multivariable Control PDF

Multiloop and Multivariable Control
• Process Interactions and Control Loop Interactions

• Pairing of Controlled and Manipulated Variables
• Singular Value Analysis
• Tuning of Multiloop PID Control Systems
• Decoupling and Multivariable Control Strategies
1
Control of Multivariable Processes
• Control systems that have only one controlled variable

and one manipulated variable.
Single-input, single-output (SISO) control system
Single-loop control system
• In practical control problems there typically are a

number of process variables which must be controlled
and a number of variables which can be manipulated.
Multi-input, multi-output (MIMO) control system
Example: product quality and throughput
must usually be controlled.
Note the "process interactions" between controlled

and manipulated variables.
2
Several simple physical examples
Process interactions :
Each manipulated variable
can affect both controlled
variables
3
SISO
MIMO
4
• In this chapter we will be concerned with characterizing process
Multiloop and Multivariable Control interactions and selecting an appropriate multiloop control
configuration.
• 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

5
Multiloop Control Strategy
• Typical industrial approach
• Consists of using several standard FB controllers (e.g., PID),
one for each controlled variable.
• 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:

U1 with Y1, U2 with Y2 (1-1/2-2 pairing)
or
U1 with Y2, U2 with Y1 (1-2/2-1 pairing)
Note: For n x n system, n! possible pairing configurations. 6
Process Interactions
Transfer Function Model (2 x 2 system)
• Two controlled variables and two manipulated variables

(4 transfer functions required)
Y1( s ) Y1( s )
= G p11( s ), = G p12 ( s )
U1 ( s ) U2( s )
(18 − 1)
Y2 ( s ) Y2 ( s )
= G p 21( s ), = G p 22 ( s )
U1 ( s ) U2( s )
• Thus, the input-output relations for the process can be

written as:
Y1( s ) = GP11( s )U1( s ) + GP12 ( s )U 2 ( s ) (18 − 2 )
Y2 ( s ) = GP 21( s )U1( s ) + GP 22 ( s )U 2 ( s ) (18 − 3)
7
In vector-matrix notation as
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 ) =   (18 − 5)
Y
 2 (s ) U (
 2 s )
And Gp(s) is the transfer function matrix for the process
 G p11( s ) G p12 ( s ) 
G p( s ) =  
G p 21( s ) G p 22 ( s )
(18 − 6 )
 
The steady-state process transfer matrix (s=0) is called the process

gain matrix K
 G p11( 0 ) G p12 ( 0 )   K K12 
K =  =  11
G p 21( 0 ) G p 22 ( 0 )  K 21 K 22 
 
8
Block Diagram for 2x2 Multiloop Control
1-1/2-2 control scheme
1-2/2-1 control scheme
9
Control-loop Interactions
• Process interactions may induce undesirable
interactions between two or more control loops.
Example: 2 x 2 system
Change in U1 has two effects on Y1
(1) direct effect : U1 Gp11 Y1
(2) indirect effect :
U1 Gp21 Y2 Gc2 U2 Gp12 Y1
10
• Control loop interactions are due to the presence of a
third feedback loop.
Example: 1-1/2-2 pairing
The hidden feedback

control loop (in dark lines)
• Problems arising from control loop interactions

i. Closed-loop system may become destabilized.
ii. Controller tuning becomes more difficult. 11
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 )
= G p11( s ) (second loop open)
U1( s )
Y1( s ) G p12G p 21Gc 2

= G p11 − (second loop closed)
U1( s ) 1 + Gc 2G p 22
Note that the last expression contains GC2.
The two controllers should not be tuned independently
12
Example: Empirical model of a distillation column
 12.8e − s −18.9e −3s  Single-loop ITAE tuning

 X D ( s )  16.7 s + 1 21s + 1   R( s )  τI
 X (s)  = 
Pairing Kc
−7 s  
 B   6.6e −19.4e −3s   S ( s )  xD - R 0.604 16.37
10.9s + 1 14.4s + 1  xB - S -0.127 14.46
xD set-point response xB set-point response
13
Closed-Loop Stability
• Relation between controlled variables and set-points
• Closed-loop transfer functions
where
• Characteristic equation
14
Example: Two P controllers are used to control the process
 2 1.5 
10s + 1 s + 1 
G p (s) =  
 1.5 2 
 s + 1 10 s + 1 
Stable region for Kc1 and Kc2
1-1/2-2 pairing 1-2/2-1 pairing
15
Pairing of Controlled and Manipulated Variables
• Control of distillation column
• Controlled variables: xD , xB , P, hD , hB Possible multiloop

control strategies
• Manipulated variables: D, B, R, QD , QB
= 5! = 120
Column
pressure
Condenser heat duty
Reflux drum liquid level
Top flow rate
Reboiler heat duty Base liquid level Reflux flow rate Top composition
Bottom flow rate

Bottom composition 16
• One of the practical pairing
R → xD
QB → xB
QD → P PC
D → hD
B → hB
LC1
AC1
AC2
LC2
17
Relative Gain Array (RGA)
(Bristol, 1966)
• 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.
18
Example of RGA Analysis: 2 x 2 system
• Steady-state process model
y1 = K11u1 + K12u2
or y = Ku
y2 = K 21u1 + K 22u2
The RGA, Λ, is defined as:
 λ11 λ12 
Λ =  
λ
 21 λ22 
where the relative gain, λij , relates the ith controlled variable
and the jth manipulated variable
( ∂yi / ∂u j )u open-loop gain
λij ≜ =
( ∂yi / ∂u j ) y closed-loop gain
( ∂yi / ∂u j )u : partial derivative evaluated with all of the manipulated variables
except uj held constant (Kij)
( ∂yi / ∂u j ) y : partial derivative evaluated with all of the controlled variables
except yi held constant 19
Scaling Properties:
i. λij is dimensionless
ii. ∑λ = ∑λ
i
ij
j
ij =1
For a 2 x 2 system,
1
λ11 = , λ12 = 1 − λ11 = λ21
K12 K 21
1−
K11K 22
 λ 1− λ 
Λ =  ( λ = λ11 )
1 − λ λ 
Recommended Controller Pairing

It corresponds to the λij which have the largest
positive values that are closest to one.
20
In general:
1. Pairings which correspond to negative pairings should
not be selected.
2. Otherwise, choose the pairing which has λij closest

to one.
Examples:
Process Gain Relative Gain
Matrix, K : Array, Λ :
 K11 0  1 0
 0
 K 22 
⇒ 0 1 
 
 0 K12 
0 1 
K
 21 0  ⇒ 1 0
 
 K11
 0
K12 
K 22 
⇒ 1 0
0 1 

 
 K11 0 
K
 21 K 22  ⇒ 1 0
0 1 
  21
For 2 x 2 systems:
1
y1 = K11u1 + K12u2 λ11 = , λ12 = 1 − λ11 = λ21
K12 K 21
y2 = K 21u1 + K 22u2 1−
K11K 22
Example 1:
 K11 K12   2 1.5
K = =
 K 21 K 22  1.5 2 
 2.29 −1.29  ∴ Recommended pairing is Y1 and U1,

∴ Λ=   Y2 and U2.
 −1 . 29 2 . 29 
Example 2:
 −2 1.5 0.64 0.36 
K = ⇒ Λ=  
1 . 5 2   0 .36 0 .64 
∴ Recommended pairing is Y1 with U1 and Y2 with U2.
22
EXAMPLE: Blending System
Controlled variables: w and x
Manipulated variables: wA and wB
Steady-state model: Steady-state gain matrix:

w = wA + wB  1 1 
wA K = 1 − x − x 
xw = wA ⇒ x= 
wA + wB  w w
The RGA is:

wA wB
w x 1− x
Λ= 
x 1 − x x 
Note that each relative gain is between 0 and 1. The recommended

controller pairing depends on the desired product composition x.
For x = 0.4, w-wB / x-wA (large interactions)
For x = 0.9, w-wA / x-wB (small interactions) 23
RGA for Higher-Order Systems
For a n x n system,
u1 u2 ⋯
un
y1  λ11 λ12 ⋯ λ1n 
y2 λ21 λ22 ⋯ λ2 n 
Λ = (18 − 25)
⋮  ⋮ ⋮ ⋱ ⋮ 
 
yn  λn1 λn1 ⋯ λnn 
Each λij can be calculated from the relation,

λij = Kij H ij (18 − 37 )
where Kij is the (i,j) -element of the steady-state gain K matrix,
( ).
Hij is the (i,j) -element of the Η = K -1 T
In matrix form, Λ= K ⊗H ⊗ : Schur product

(element by element multiplication)
Note : Λ ≠ KH
24
Example: Hydrocracker
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 
Λ =  
y3  −0.135 3.314 −0.270 −1.910 
 
y4  0.215 −2.030 0.900 1.919 
Recommended controller pairing?
25
Dynamic Consideration
An important disadvantage of RGA approach is that it ignores
process dynamics
Example:
 −2e − s 1.5e − s 
10s + 1 s + 1 
G p (s) =  −s

 1.5e 2 −s 
e
 s + 1 10s + 1 
λ11 = 0.64
Recommended controller pairing?
26
Singular Value Analysis
• Any real m x n matrix can be factored as,
K=WΣV
T
• Matrix Σ is a diagonal matrix of singular values:

Σ = diag (σ1, σ2, …, σr)
• 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 Σ, W, and V using MATLAB command, svd.
• Condition number (CN) is defined to be the ratio of the largest
to the smallest singular value,
σ1
CN ≜
σr
• A large value of CN indicates that K is ill-conditioned.
27
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 =  ⇒ Λ= I
10 1 
• 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 ) =  CN = 101
 0 0.1
• 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
• Arrange the singular values in order of largest to smallest
and look for any σi/σi-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 0 .9 0 − 0 .0 0 6 
K =  0 .5 2 0 .9 5 0 .0 0 8 
 0 .9 0 − 0 .9 5 0 .0 2 0 
29
 0.5714 0.3766 0.7292 
W =  0.6035 0.4093 −0.6843 
 −0.5561 0.8311 0.0066 
18 Control
1.618 0 0   0.0541 0.9984 0.0151

∑= 0 1.143 0  V =  0.9985 −0.0540 −0.0068
 
 −0.0060 0.0154 −0.9999 
Multivariable
 0 0 0.0097 
•
Chapter
CN = 166.5 (σ1/σ3)
The RGA is:

 −2.4376 3.0241 0.4135 
Multiloop and
Λ =  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 (3x3→2x2).
30
31
Matrix Notation for Multiloop Control Systems
Gp
Single loop Multi-loop
( )
G p Gc -1
CLTF Y= Ysp Y = Ι + G pGc G pGc Ysp
1 + G p Gc
Y : (n x 1) vector of control variables
Ysp : (n x 1) vector of set-points
Gp : (n x n) matrix of process transfer functions
Gc : (n x n) diagonal matrix of controller
transfer functions
Characteristic
equation
1 + G p Gc = 0 (
det Ι + G pGc = 0 )
32
Tuning of Multiloop PID Control Systems
• Detuning method
– Each controller is first designed, ignoring process interactions
– Then interactions are taken into account by detuning each controller
• More conservative controller settings (decrease controller gain,
increase integral time)
– Tyreus-Luyben (TL) tuning
33
Biggest log-modulus tuning (BLT) method
Multiloop and Multivariable Control (Luyben, 1986)
• Log-modulus : a robustness measure of control systems
– Single loop
G p Gc G
Lc = 20log = 20log
1 + G p Gc 1+ G
 G 
Lc max = max Lc = max 20log 
ω ω  1+ G 
A specification of Lc max = 2 dB has been suggested.
– Multi-loop
(
Define W = −1 + det Ι + G pGc )
W
Lc = 20log
1+W
Luyben suggest that Lc

max
= max Lc = 2n
ω
where n is the dimension of the multivariable system.
34
Tuning Procedure of BLT method
1. Calculate Z-N PI controller settings for each control loop
K c,ZN = 0.45 K cu , τ I ,ZN = Pu 1.2

2. Assume a factor F; typical values between 2 and 5
3. Calculate new values of controller parameters by
K ci ,ZN
K ci = , τ Ii = F τ Ii ,ZN ; i = 1, 2,⋯, n (detuning)
F
(
4. Compute W = −1 + det Ι + G G
p c ) for 0 ≤ ω < ∞
for example, 2x2 system
( ) (
det Ι + G pGc = 1 + Gc1G p11 + Gc 2G p 22 + Gc1Gc 2 G p11G p 22 − G p12G p 21 )
5. Determine  W 
Lc max = max 20log 
ω  1+W 
6. If Lc max ≠ 2n , select a new value of F and return to step 2 until Lc max = 2n
35
Multiloop IMC Controller
• Design IMC controller based in diagonal process transfer
functions
G p11 ⋯ G p1n 
 
Gp =  ⋮ ⋱ ⋮ 
G pn1 ⋯ G pnn 
 
• The IMC controller is designed as

Gc = diag [Gc1 Gc 2 ⋮ Gcn ]
with Gci = G −pii1 − fi i = 1, 2,⋯, n
• Since the off-diagonal terms of Gp have been dropped,

modeling error are always present.
36
Alternative Strategies for Dealing with
Multiloop and Multivariable Control 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 (decoupler) 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)
37
A Decoupling Control System
decoupler
38
38
Decoupler Design Equations
We want cross-controller, T12, to cancel the effect of U2 on Y1.
Thus, we would like G U + G U = 0
p11 12 p12 22
or G p11T12U 22 + G p12U 22 = 0
Because U22 ≠ 0 in general, then
G p12
T12 = −
G p11
Similarly, we want T12 to cancel the effect of U1 on Y2. Thus, we
require that,
G p 22T21U11 + G p 21U11 = 0
G p 21
∴ T21 = −
G p 22
Compare with the design equations for feedforward control based
on block diagram analysis
39
Variations on a Theme
1. Partial Decoupling:
Use only one “cross-controller.”
2. Static Decoupling:
Design to eliminate Steady-State interactions
Ideal decouplers are merely gains:
K p12
T12 = −
K p11
K p 21
T21 = −
K p 22
3. Nonlinear Decoupling
Appropriate for nonlinear processes.
40
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
41
41
Wood-Berry Distillation Column Model
 12.8e− s −18.9e−3s 
 
16.7 s + 1 21s + 1 
 y1 ( s )    u1 ( s ) 
 y ( s)  =   u ( s )  (18 − 12)
 2   −7 s −3s   2 
 6.6e −19.4e 
10.9s + 1 14.4 s + 1 
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
4242
43

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Multiloop and Multivariable Control

Multiloop and Multivariable Control

• Process Interactions and Control Loop Interactions

• Control systems that have only one controlled variable

• In practical control problems there typically are a

Note the "process interactions" between controlled

• If process interactions are significant, even the best multiloop

• In these situations there are incentives for considering

• Multiloop control: Each manipulated variable depends on

• Multivariable Control: Each manipulated variable can depend

Examples: decoupling control, model predictive control

Two possible controller pairings:

• Two controlled variables and two manipulated variables

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

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

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

The steady-state process transfer matrix (s=0) is called the process

1-1/2-2 control scheme

1-2/2-1 control scheme

Example: 1-1/2-2 pairing

The hidden feedback

• Problems arising from control loop interactions

Example: 2 x 2 system, 1-1/2 -2 pairing

Y1( s ) G p12G p 21Gc 2

 12.8e − s −18.9e −3s  Single-loop ITAE tuning

xD set-point response xB set-point response

• Closed-loop transfer functions

Stable region for Kc1 and Kc2

1-1/2-2 pairing 1-2/2-1 pairing

• Controlled variables: xD , xB , P, hD , hB Possible multiloop

Reflux drum liquid level

Top flow rate

Bottom flow rate

• Provides two types of useful information:

• Requires knowledge of steady-state gains

Recommended Controller Pairing

2. Otherwise, choose the pairing which has λij closest

 2.29 −1.29  ∴ Recommended pairing is Y1 and U1,

Steady-state model: Steady-state gain matrix:

The RGA is:

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

Each λij can be calculated from the relation,

In matrix form, Λ= K ⊗H ⊗ : Schur product

The RGA for a hydrocracker has been reported as,

Recommended controller pairing?

• Matrix Σ is a diagonal matrix of singular values:

1.618 0 0   0.0541 0.9984 0.0151

The RGA is:

Λ =  1.2211 −0.7617 0.5407 

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

CN suggests only two output variables can be controlled. Eliminate one

Single loop Multi-loop

– Tyreus-Luyben (TL) tuning

Luyben suggest that Lc

K c,ZN = 0.45 K cu , τ I ,ZN = Pu 1.2

for example, 2x2 system

6. If Lc max ≠ 2n , select a new value of F and return to step 2 until Lc max = 2n

• The IMC controller is designed as

with Gci = G −pii1 − fi i = 1, 2,⋯, n

• Since the off-diagonal terms of Gp have been dropped,

Decoupling Control Systems

• Ideally, decoupling control allows setpoint changes to affect

• Typically, decoupling controllers are designed using a simple