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An Optimized Nonlinear Controller Design

for Boiler–Turbine System Using Evolutionary
Algorithms

T. Piraisoodi, M. Willjuice Iruthayarajan & K. Mohaideen Abdul Kadhar

To cite this article: T. Piraisoodi, M. Willjuice Iruthayarajan & K. Mohaideen Abdul Kadhar
(2017): An Optimized Nonlinear Controller Design for Boiler–Turbine System Using Evolutionary
Algorithms, IETE Journal of Research, DOI: 10.1080/03772063.2017.1360805

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 IETE JOURNAL OF RESEARCH, 2017
https://doi.org/10.1080/03772063.2017.1360805

An Optimized Nonlinear Controller Design for Boiler–Turbine System Using

Evolutionary Algorithms
T. Piraisoodi1, M. Willjuice Iruthayarajan1 and K. Mohaideen Abdul Kadhar2
1
National Engineering College, Kovilpatti, India; 2Dr. Mahalingam College of Engineering & Technology, Pollachi, India

ABSTRACT KEYWORDS
This paper investigates an optimized design of newly developed nonlinear controller called finite- Boiler–turbine system;
time convergent controller to a third-order boiler–turbine dynamics. The third-order boiler–turbine Evolutionary algorithms;
dynamics only includes highly nonlinear and critical parameters of thermal plant like drum Finite-time convergent
pressure, electric power and drum level; the design of controller is always a complicated task. The controller; Fuzzy logic
controller: Optimal tuning
present work explores the possibility of application of newly developed finite-time convergent parameters
Downloaded by [University of Connecticut] at 23:56 30 August 2017

controller to a third-order boiler–turbine dynamics. The novelty of the newly developed finite-time
convergent controller is complete utilization of system nonlinearities instead of cancelling or
linearizing them. Also, the finite-time convergent controller ensures robustness and fast
convergence. To achieve optimal performance, the tuning parameters involved in finite-time
convergent controller have been optimized using evolutionary algorithm techniques. To validate
the control performance of an optimized nonlinear controller design, simulations have been
conducted using various evolutionary algorithm techniques and the results are reported as various
case studies. To compare the performance of proposed optimized finite-time convergent
controller, the fuzzy logic controller has also been designed using ANFIS for boiler–turbine system
and the results are reported.

1. INTRODUCTION based on input/output feedback linearization was pro-

posed for thermal power plant [26–28].
A boiler–turbine system plays a central role in power
generation of thermal electric power plant which admits
The recent nonlinear control techniques intentionally
high-pressure and high-temperature steam into the tur-
introduce artificial nonlinear parameters into the system
bine to generate electricity [1–5]. The main objective of
to achieve expected benefits of fast convergence and
boiler–turbine system is to generate the required elec-
robustness [29,30]. During 2012, Yang et al. [12] pro-
tricity as per demand while regulating the essential
posed genuine nonlinear approach for controller design
parameters like drum pressure, drum level, main stream
of second-order boiler–turbine system. The above-said
temperature, furnace pressure, etc. at desired set point
work includes design of nonlinear finite-time convergent
[6–10].
controller where the tuning parameters utilize non-opti-
mized/approximated values.
At present, most of thermal power electrical power
plants employs PID controller for boiler–turbine system
Evolutionary algorithm (EA) techniques are robust
[11]. The control performance of linear PID controller
which involves search and optimization methodology
for boiler–turbine system will not be optimal due to the
that can handle ill-defined problems like multimodality,
presence of extreme nonlinearity [12]. Many artificial
discontinuity, randomness, time variance, and noise
intelligence techniques were implemented in controller
[31]. The genetic algorithms have been successfully
design of boiler–turbine system. The fuzzy controller
applied for various optimization problems and the same
optimized by genetic algorithms was reported [13–16].
have been reported [32–34]. The real-coded genetic
The neuro-fuzzy controllers were designed for power
algorithm (RGA) is the one among EA techniques that
plant applications [17–20].
recently include several modifications in crossover and
mutation mechanism to improve the performance.
Recently, due to the development of nonlinear control
techniques, it becomes feasible for the application of the
Another EA such as modified particle swarm optimiza-
same to thermal electric power plants [21–25]. The non-
tion (MPSO) technique can provide high-quality
linear multivariable power plant coordinate control
© 2017 IETE
 2 T. PIRAISOODI ET AL.: AN OPTIMIZED NONLINEAR CONTROLLER DESIGN FOR BOILER–TURBINE SYSTEM USING EVOLUTIONARY ALGORITHMS

optimal solution and ensure fast convergence with sim-
ple implementations [3,31,35–37]. The Differential Evo-
lution (DE) algorithm is a simple population-based
parallel search algorithm to achieve global optimization.
In Self-Adaptive Differential Evolution (SADE) algo-
rithm, two DE’s learning strategies are utilized as candi-
dates. The two different learning strategies are applied to
individuals in current population based on the probabil-
ity of success during previous iterations [11]. The fuzzy
gravitational search algorithm (GSA) optimized by DE
has been reported recently [38,39]. Also, chaotic maps
were embedded in GSA to improve the performance
[40].
been conducted among four different algorithms
towards the optimal performance.
This paper is organized as follows. Section 2 describes
the nonlinear plant model of boiler–turbine system. Sec-
tion 3 deals with nonlinear finite-time convergent con-
troller design for boiler–turbine system. Section 4
describes EA techniques. Section 5 deals with EA imple-
mentation on optimized design of controller. The
obtained simulation results have been discussed in
Section 6. Finally, the conclusion of the present work is
given in Section 7.

The control objective of boiler–turbine system is to drive 2. BOILER–TURBINE DYNAMICS

the states to its dynamic set points which ensure stabil-
A boiler–turbine system is an energy conversion device
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ity, fast convergence, and better time-domain specifica-

which comprises boiler and turbine as main compo-
tions. Also, the controller should be capable to adapt
nents. The single-line diagram of boiler–turbine system
different working conditions that arise due to parameter
is shown in Figure 1 in which water is preheated through
variations of dynamic environment [11]. During 2012,
economizer and is fed to boiler drum and flows through
Yang et al. proposed a newly developed nonlinear con-
the down-comers [34]. The water is heated and is kept
trol technique called finite-time convergent controller
at saturation condition by passing through risers. The
and the same has been implemented successfully for the
saturated steam–water mixer enters boiler drum in
second-order boiler–turbine system. Even though
which steam is separated from water and passes through
acceptable performance has been achieved for constant
primary and secondary super-heaters to get dry satu-
set points with non-optimized/approximated tuning
rated steam. The dry saturated steam is admitted into
parameters, the role of tuning parameters which include
high-pressure turbine and then low-pressure turbine to
controller gains (k1 ,k2 ) and artificial nonlinear fraction
get work done. The electric generator which is coupled
(p) towards optimal control performance has not been
to turbine generates required electric power.
reported.
The nonlinear mathematical model of boiler–turbine
The present work investigates the possibility of applica-
used in this paper corresponds to 160 MW oil-fired
tion of newly developed nonlinear control technique
boiler–turbine generator unit proposed by Bell and
called finite-time convergent controller to a third-order
Astrom (1987) which incorporates essential features of
boiler–turbine system. Because, the third-order boiler–
nonlinear boiler–turbine dynamics. The multivariable
turbine dynamics only includes all critical and essential
model of boiler–turbine system which incorporates
parameters of thermal electric power plant like drum
input and output variables is shown in Figure 2. The
pressure (kg/cm2), electric power (MW), and drum level
(m). Also, the present work focuses to optimize the tun-
ing parameters involved in nonlinear controller design
which includes controller gains (k1 , k2 , k3 ) and artificial
nonlinear fraction (p) using four EA techniques which
include DE, SADE, MPSO, RGA, GSA, and GSA with
chaotic maps. To compare the performance of proposed
optimized finite-time convergent controller, the fuzzy
logic controller has also been designed using Adaptive
Neuro Fuzzy Inference Systems (ANFIS).

The simulation has been conducted with various kinds

of set-point changes such as step, multi-step, mixed-
step, and ramp as different case studies and the tracking
capability of the newly developed finite-time convergent
controller has been reported. The comparative study has Figure 1: Single-line diagram of drum–boiler–turbine system
 T. PIRAISOODI ET AL.: AN OPTIMIZED NONLINEAR CONTROLLER DESIGN FOR BOILER–TURBINE SYSTEM USING EVOLUTIONARY ALGORITHMS 3

Table 1: Typical operating points of the boiler–turbine

System
state and
input
variables #1 #2 #3 #4 #5 #6 #7
x10 75.6 86.4 97.2 108 118.8 129.6 140.4
x20 15.27 36.65 50.52 66.65 85.06 105.8 128.9
x30 299.6 342.4 385.2 428 470.8 513.6 556.4
u01 0.156 0.209 0.271 0.34 0.418 0.505 0.6
u02 0.483 0.552 0.621 0.69 0.759 0.828 0.897
Figure 2: Multivariable model of boiler–turbine system u03 0.183 0.256 0.34 0.433 0.543 0.663 0.793
y30 ¡0.97 ¡0.65 ¡0.32 0 0.32 0.64 0.98

mathematical model considered here is a third-order

MIMO nonlinear model and the same is described as
follows [2,7,8]: as ¼ ð1  0:001538Ƿf Þ ð0:8 P  25:6Þ
(4)
=Ƿf ð1:0394  0:0012304 PÞ
dp
¼ 0:15u3  0:0018u2 p1:125 þ 0:9u1

dt qe
L ¼ 0:05 0:13073Ƿf þ 100 acs þ  67:975 (5)
9
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dPo
¼ 0:1Po þ 0:073u2 p1:125  0:016p1:125 where as is the steam quality and qe is the evaporation
dt
rate in kg/s. The typical operating points of the nonlin-
dǷf ear boiler–turbine model (1) are tabulated in Table 1
¼ 1:65u3  0:0129u2 p þ 0:0022p (1) [34,41].
dt

where p denotes the drum pressure (kg/cm2), Po denotes

electric power output (MW), and Ƿf denotes the fluid
density (kg/cm3). The controllable inputs to the system
are valve positions of actuators that control fuel flow
ðu1 Þ, steam flow ðu2 Þ; and feedwater flow ðu3 Þ. The
measurable outputs of the mathematical model are
drum pressure (kg/cm2), denoted as y1 , electric power
output (MW) denoted as y2 , and the drum water-level
deviation from the set point, L in metres, denoted as y3 .
The state variables are drum pressure (pÞ, electric power
output ðPo Þ; and fluid density ðǷf ), which are repre-
sented as [x1 ; x2 ; x3 . The valve positions of actuators
are subject to magnitude and rate constraints as follows:
3. DESIGN OF CONTROLLERS FOR NONLINEAR
BOILER–TURBINE SYSTEM
The objective of the controller design of nonlinear
boiler–turbine system is to drive the drum pressure (kg/
cm2), electrical output power (MW), and drum water
level (m) to their corresponding desired set points under
different operating conditions. Also, the designed con-
troller should have the capability to adapt different
working conditions during model parameter variations.
The controller should also meet out the magnitude and
constraints of the control actuators.

0
u1 ; u2 ; u3
1 3.1 Nonlinear Finite-Time Controller Design

du1 The objective of the present work is to design an opti-
0:007

0:007 mized nonlinear finite-time convergent controller for
dt
boiler–turbine system which should drive the states of
du2 drum pressure (pÞ, electric power output ðPo Þ; and drum
2

0:02
dt water-level deviation (L) to its dynamic set points which
du3 ensures stability, fast convergence, and better time-
0:05

0:05 (2) domain specifications. Also, the controller should be
dt
capable to adapt different working conditions that arise
which represents the actuator’s constraints or physical due to parameter variations of dynamic environment.
limitations. The drum water level L (m) can be calcu-
lated using Ƿf as follows: The structure nonlinear finite-time convergent control-
ler is shown in Figure 3. To design the nonlinear finite-
qe ¼ 0:854u2 P  0:147 P þ 45:59 u1  2:514 u3  2:096 time convergent controller, the new variables e1 , e2; and
e3 can be introduced to describe the error deviations of
(3) state variables, drum pressure (pÞ, electric power output
 4 T. PIRAISOODI ET AL.: AN OPTIMIZED NONLINEAR CONTROLLER DESIGN FOR BOILER–TURBINE SYSTEM USING EVOLUTIONARY ALGORITHMS

where, k1 , k2 , k3 are positive constants that represent

controller gains and p is a nonlinear fraction restricted
to [0,1]. The controller gain parameters k1 , k2 , k3 and
nonlinear fraction p decide the control performance of
finite-time convergent controller. To focus on genuine
nonlinear controller design, this will lead nonlinear
closed-loop control systems. Let p = 1/3, defining
z2
V ðz1 Þ ¼ 21 , the derivative along (10) is

_
V_ ðe1 Þ ¼ k1 e1 ¼ k1 23 V 3 ðe1 Þ
pþ1 2 2
(13)

Figure 3: Finite-time convergent (FTC) controller design for
boiler–turbine system
ðPo Þ; and fluid density ðǷf ). The states are described as
[x1 , x2 , x3  = [p Po Ƿf .
Downloaded by [University of Connecticut] at 23:56 30 August 2017
which implies that (10) is finite-time stable as per
Lemma 1.
Lemma 1: For a continuous system x_ ¼ f ðxðt Þ, f ð0Þ ¼ 0:
Suppose there exist a C1 positive definite and proper func-
tion V: Rn !R, and real numbers k > 0 and / eð0; 1Þ

Let e1 ¼ x1  x1ref ; e2 ¼ x2  x2ref ; e3 ¼ x3  x3ref
where x1ref , x2ref , and x3ref are the desired set points of
x1 , x2; and x3 respectively. The new state equations in
terms of error deviations e1 , e2 , and e3 for mathematical
model of nonlinear boiler–turbine model (1) can be
described as
e_1 ¼ 0:15 u3  0:0018 u2 ðe1 þ x1ref Þ1:125 þ 0:9u1
e_2 ¼ 0:1 ðe2 þ x2ref Þ þ 0:073u2 ðe1 þ x1ref Þ1:125  0:016
e_3 ¼ 1:65 u3  0:0129 u2 ðe1 þ x1ref Þ
þ 0:0022ðe1 þ x1ref Þ
Next, the controllers have to be designed to drive the
errors e1 , e2 , e3 to zero. For stabilizing the system, the
controllers u1 (t) can be designed as follows:
1   phenomena like natural inheritance and Darwinian strife
p
u1 ¼ k1 e1 þ 0:0018 u2 ðe1 þ x1ref Þ1:125 þ 0:15 u3
0:9
(9)
_
such that V_ þ kV_ /
0, where VðxÞ ¼ @V@xðxÞ fðxÞ . Then
the origin is a globally finite-time stable equilibrium, and
V ðxð0ÞÞ1 /
the finite settling time T satisfies T
kð1 / Þ .
Therefore, after a finite time T1 , e1 ðt Þ  0; 8t  T1 . From
(10), it is understood that e1 ðt Þ isbounded
 for t  0. From
this, it can be verified that F e1; e2 
a1 je2 j þ a2 for
constants a1 and a2 . Hence, e2 ðt Þ will be finite for any
(6)
finite time t and remain bounded for 0
t
T1 : The
p p
introduction of the nonlinear terms e1 and e2 into the con-
trollers (10) and (11) will ensure the states to go to zero in
(7) a finite time. Also, these finite-time controllers will
improve the robustness of closed-loop control system.
(8)
4. EVOLUTIONARY ALGORITHMS
EAs are based on powerful strategy of evolution:
Darwinist principle of survival of fittest, which are mod-
ern heuristics optimization techniques, includes natural
for survival. EAs are widely used for engineering applica-
tions to achieve optimal performance.

Under (9), the error dynamic of e1 ðt Þ becomes

4.1 Differential Evolution (DE)
p
e_1 ¼ k1 z1 (10) DE is one among the most powerful stochastic real
parameter optimizers in the current trend. The DE algo-
1  p
u2 ¼ 1:125  k2 e2 þ 0:1 ðe2 þ x2ref Þ
rithms are most often used to solve multi-objective, con-
0:073ðe1 þ x1ref Þ strained, dynamic, large-scale multimodal optimization

þ 0:016 ðe1 þ x1ref Þ1:125 problems [42,33]. The mutant vector is generated for
(11) each target vector Si;J as follows:

1  p Ti;Jþ1 ¼ Sr3;J þ FðSr1;J  Sr2;J Þ (14)

u3 ¼  k3 e3 þ 0:0129 u2 ðe1 þ x1ref Þ
1:65

 0:0022 ðe1 þ x1ref Þ (12) where Ti;Jþ1 is the ith mutated individual for the next
iteration; S is the population set; F is the mutation
 T. PIRAISOODI ET AL.: AN OPTIMIZED NONLINEAR CONTROLLER DESIGN FOR BOILER–TURBINE SYSTEM USING EVOLUTIONARY ALGORITHMS
constant [0,2]; J is he current iteration; J + 1 is the next
iteration; Sr1;J is the randomly selected individuals from
the population; and Sr3;J is the current iteration.
Crossover is performed after mutation to increase the
diversity of the perturbed parameters vectors:
Qi;Jþ1 ¼ Si;J ð1  CRÞ þ Ti;Jþ1 CR (15)
where CR is the crossover probability constant from
interval [0,1].
The parents of successive iteration are selected as fol-
lows:
Qi;Jþ1 if f ðQi;Jþ1 Þ > f ðSi;Jþ1 Þ
Si;Jþ1 ¼ (16)
Si;Jþ1 if f ðSi;jþ1 Þ > f ðQi;Jþ1 Þ
Downloaded by [University of Connecticut] at 23:56 30 August 2017
where f(Qi;Jþ1 ) is the value of fitness function of the ith
individual of the population in which the mutation and
crossover operations are performed and f(Si;Jþ1 ) is the
value of the fitness function of the ith individual in origi-
nal population.
4.2. Self-Adaptive Differential Evolution (SADE)
It is possible to achieve good performance on a specific
problem by using the original DE algorithm by utilizing
all the available learning strategies in the phase of muta-
tion and then the corresponding critical control parame-
ters CR, F, and NP. The SADE algorithm automatically
adapts the learning strategies and parameter setting dur-
ing different evolution stages.
For each target vector Si;G , an associated mutant vector
Ti;G = {T1i;G , T2i;G ,… . Tni;G } can be generated using one
of the following five strategies:
 
“DE=rand=1” : Ti;G ¼ Sr1;G þ F: Sr2;G  Sr3;G
 
“DE=best=1” : Ti;G ¼ Sbest;G þ F: Sr1;G  Sr2;G
“DE/current to best/1”:
   
Ti;G ¼ Si;G þ F: Sbest;G  Si;G þ F: Sr1;G  Sr2;G (17)
“DE/best/2”:
   
Ti;G ¼ Sbest;G þ F: Sr1;G  Sr2;G þ F: Sr3;G  Sr4;G
“DE/rand/2”:
   
Ti;G ¼ Sr1;G þ F: Sr2;G  Sr3;G þ F: Sr4;G  Sr5;G
5
where indices r1 , r2 , r1 , r3 , r4 , r5 are random and mutu-
ally variable integers generated in the range [1, NP]. F is
a factor in [0,2] for scaling differential vectors and Sbest;G
is the individual vector having the best fitness value in
the population at generation G.
On completion of the mutation phase, “binomial” cross-
over operation is performed to each pair of the generated
mutant vector Ti;G and its corresponding target vector
Si;G and its associated target vector Si;G to generate a trial
vector: Ui;G = (u1i;G , u2i;G ,…… uni;G ):
tji;G ; if ðrandj ½0; 1
CRÞorðj ¼ jrand Þ;
uji;G (18)
Sji;G ; otherwise j ¼ 1; 2; . . . ::n
where CR is the user-defined crossover constant in the
range [0,1] and jrand is the integer that is randomly cho-
sen in the range [1, NP] such that the trial vector Ui;G
differs from its associated target vector Si;G by at least
one parameter.
The selection process is carried out as follows:
Ui;G ; if ðf ðUi;G Þ < f ðSi;G Þ;
Si;Gþ1 (19)
Si;G ; otherwise
The above three steps are repeated until reaching the
specified functional evaluations.
4.3. Modified Particle Swarm Optimization (MPSO)
Particle swarm optimization (PSO) technique is one
among the family of EA techniques. In PSO, the popula-
tions are initialized with random solutions along with
randomized velocity, and then the potential solutions
also called as particles flown through the entire multidi-
mensional search space to find the best optimal solution
[31]. In PSO, at every time step, the velocity of particles
is assigned such that it is directed towards particles best
[36] and global best [36,37]. The velocity of particles is
updated as
Vikþ1 ¼ vk Vik þ c1 rand1 ðP bestki  Xik Þ
þ c2 rand2 ðG bestki  Xik Þ (20)
where Vik is the velocity of the ith individual at iteration
k; vk is the inertia of weight at iteration k; c1 ; c2 are the
acceleration factors; rand1 ; rand2 are the uniform ran-
dom numbers between 0 and 1; Xik is the position of the
ith individual at iteration k; Pbestki is the best position of
the ith individual at iteration k; and Gbestki is the best
position of the group until iteration k.
 6 T. PIRAISOODI ET AL.: AN OPTIMIZED NONLINEAR CONTROLLER DESIGN FOR BOILER–TURBINE SYSTEM USING EVOLUTIONARY ALGORITHMS

The position of the particle is updated as
Xikþ1 ¼ Xik þ Vikþ1
4.4 Real-Coded Genetic Algorithm (RGA)
Real-number encoding provides the best results of func-
tion optimization problems. Recently, it was proved that
real-number encoding performs better than conventional
binary or grey encoding especially for constrained optimi-
zation problems. Due to the nature of adaptive capability,
SBX crossover and polynomial mutation operators are
utilized. To prevent premature convergence, tournament
selection mechanism is used as selection mechanism.
The random number ui is to be chosen in the range
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and the said procedure is repeated until reaching the
maximum number of functional evaluations.
(21)
4.5 Gravitational Search Algorithm (GSA)
The GSA is one of the recently developed optimization
algorithms which is developed based on law of gravity
and interaction of masses. In GSA, the population agents
are a collection of masses. The influence among collected
masses will be based on the Newton’s law of motion and
gravity [39].
4.6. Gravitational Search Algorithm with Chaotic
Maps
In recent work, the chaotic maps are embedded into

[0,1], and bqi is calculated as gravitational constant of GSA to improve the perfor-
8 mance of algorithm in both aspects of exploration as
>
>
1
well as exploitation [40].
>
> ð2u Þhcþ1 ; ui
0:5
<0 i
1
bqi ¼ 1
(22)
>
> @ 1 h
; otherwiseA 5. EA IMPLEMENTATION IN CONTROLLER
>
cþ1
>
: 2ð1  ui Þ DESIGN FOR BOILER–TURBINE SYSTEM
5.1 EA implementation of nonlinear finite-time
A spread factor bqi can be defined as the ratio of absolute convergent controller
difference in offspring values to that of parents. hc is the
crossover index. The offspring can be computed as The present work focuses on optimized nonlinear finite-
time convergent controller design for third-order boiler–
xi ð1;tþ1Þ ¼ 0:5½ð1 þ bqi Þ xi ð1;tÞ þ ð1  bqi Þ xi ð2;t Þ  turbine system described in (1). The chromosome/parti-
cle representation of optimized nonlinear finite-time
convergent controller is described as
xi ð2;tþ1Þ ¼ 0:5½ð1  bqi Þ xi ð1;tÞ þ ð1 þ bqi Þ xi ð2;tÞ  (23)
k1 k2 k3 p
The offspring which was newly generated undergoes
polynomial mutation operation. The new offspring is All the elements of chromosomes/particles of population
determined as follows: are randomly initialized within the search space as speci-
fied between lower and upper bounds as follows:
 
yi ð1;tþ1Þ ¼ xi ð1;tþ1Þ þ xi U  xi L di (24)
0
k1
3;
U L
xi and xi are the upper and lower limit values. The
0
k2
5;
parameter di is evaluated from the polynomial probabil-
ity distribution
0
k1
15;
PðdÞ ¼ 0:5 ðhm þ 1Þð1  j d j Þhm
0
p
0:9: (26)
( The performance index of nonlinear finite-time conver-
1=ðhmþ1 Þ1
2ri if ri < 0:5
di ¼ (25) gent controller has been specified as follows:
1  ½2ð1  ri Þ1=ðhmþ1 Þ if ri  0:5
Z tf     
where hm is the mutation index. J¼ e21 þ e22 þ e23 dt þ u21 þ u22 þ u23 dt (27)
t0

The individuals which are newly generated replace their where e1 , e2 , e3 are error deviations of process variables
parents and form the parents for the next generation from set points and u1 , u2 , u3 are controller outputs.
 T. PIRAISOODI ET AL.: AN OPTIMIZED NONLINEAR CONTROLLER DESIGN FOR BOILER–TURBINE SYSTEM USING EVOLUTIONARY ALGORITHMS 7

6. SIMULATION RESULTS 4.5

x 10
5

GSA with chaotic maps

4 DE

The present work investigates the optimized design of 3.5

MPSO
RGA

nonlinear boiler–turbine system using finite-time conver-

SADE
GSA
3

f optimal
gent controller. The mathematical process model and 2.5

controllers were developed in MATLAB–SIMULINK 2

1.5
environment. The sampling time for conducting simula- 1
tion is 0.5 s. The tuning parameters involved in finite- 0.5

time convergent controller have been optimized using 0

0 10 20 30 40 50 60

four EA techniques such as DE, SADE, MPSO, and RGA. Generation/Iteration

Figure 4: Convergence characteristics of EAs – finite-time con-

vergent controller
6.1 Tuning of finite-time convergent controller 0.7

0.6
The statistical performance of EA techniques are
0.5
reported in Table 2. The best optimal tuning parameters
0.4
obtained for finite-time convergent controller using EA

k1
0.3
techniques for 20 trials are reported in Table 3 along
Downloaded by [University of Connecticut] at 23:56 30 August 2017

0.2
with f optimal. 0.1

0
0 5 10 15 20 25 30 35 40 45 50
To compare the statistical performance of the best, mean Generation/Iteration
and standard deviation values of EAs are reported in (a)
0.25
Table 3. It is evident that the tuning parameters obtained
using all EA techniques are almost the same. According 0.2
to optimal results, MPSO algorithm provides better
results compare to others. However, MPSO is less con-
k2

0.15

sistent compared to SADE according to standard devia-

0.1
tion. The SADE algorithm performs consistently well
among four EAs as the standard deviation is less. Due to 0.05
0 5 10 15 20 25 30 35 40 45 50
the inbuilt self-adaptive functionality, SADE algorithm Generation/Iteration
automatically adopts different learning strategies and (b)
parameter settings during evolution and provides consis- 10

tent optimal performance. The convergence characteris- 8

tics of the EA technique and MPSO technique are 6

described in Figures 4 and 5, respectively.
k3

0
Table 2: Statistical performance of EAs 0 5 10 15 20 25 30
Generation/Iteration
35 40 45 50

Best Mean Standard Functional (c)

Method value value deviation evaluations 0.65
DE 30,994 31,018 19.4256 2000
SADE 30,865 30,868 3.3418 2000 0.6
MPSO 30,834 30,840 5.3155 2000
RGA 30,835 30,858 26.9731 2000
GSA 34,291 37,858 2152.5 2000 0.55
p

GSA (with 32,738 34,128 1086.1 2000

chaotic maps) 0.5

0.45
0 5 10 15 20 25 30 35 40 45 50
Table 3: Optimal tuning parameters Generation/Iteration
Optimal tuning parameters (d)
Method k1 k2 k3 p F optimal
DE 0.0966 0.0990 11.1806 0.6095 30,994
Figure 5: Convergence characteristics of (a) finite-time conver-
SADE 0.1008 0.0975 9.0462 0.5996 30,865 gent controller tuning parameter (k1) using MPSO; (b) finite-time
MPSO 0.0993 0.0994 8.0629 0.5942 30,834 convergent controller tuning parameter (k2) using MPSO; (c)
RGA 0.0996 0.0963 8.3911 0.6044 30,835 finite-time convergent controller tuning parameter (k3) using
GSA 0.0258 0.0547 0.9069 0.8798 34,291 MPSO; and (d) finite-time convergent controller tuning parame-
GSA (with chaotic maps) 0.0613 0.0974 9.9952 0.7644 32,738
ter (p) using MPSO
 8 T. PIRAISOODI ET AL.: AN OPTIMIZED NONLINEAR CONTROLLER DESIGN FOR BOILER–TURBINE SYSTEM USING EVOLUTIONARY ALGORITHMS

Case 1. Single-step input:

8
< y1ref ¼ 108; y2ref ¼ 66:65; y3ref ¼ 0; 0
t
200
y ¼ 120; y2ref ¼ 66:65; y3ref ¼ 0; 200
t
600
: 1ref
y1ref ¼ 120; y2ref ¼ 120; y3ref ¼ 0; 600
t
1500
(a)
in1mf1
1
in1mf2 in1mf3 in1mf4 in1mf5 in1mf6 in1mf7
Case 2. Multi-step input:
Degee of membership

0.8
8
0.6 < y1ref ¼ 110; y2ref ¼ 80; y3ref ¼ 0; 0
t
400
y ¼ 120; y2ref ¼ 100; y3ref ¼ 0; 400
t
800
0.4
: 1ref
0.2
y1ref ¼ 130; y2ref ¼ 120; y3ref ¼ 0; 800
t
1500
0

-10 -5 0
error
5 10
In order to evaluate the control performance of
(b)
designed controller, various kinds of inputs such as sin-
in2mf1 in2mf2 in2mf3 in2mf4 in2mf5 in2mf6 in2mf7
1
gle-step and multi-step inputs have been applied with
Degee of membership

large variations. In Case 1, single-step input is applied.

Downloaded by [University of Connecticut] at 23:56 30 August 2017

0.8

0.6 The system is kept at ideal condition initially, i.e. oper-

0.4
0.2
0
-10 -5
rate of change of error
(c)
Figure 6: (a) Fuzzy logic controller using ANFIS. (b) Membership
function for error. (c) Membership function for change in error
Figure 4 shows the convergence characteristics of vari-
ous EAs to achieve optimal performance for nonlinear
finite-time convergent controller. Figure 5(a)–(d) shows
the convergence characteristics of tuning parameters of
finite-time convergent controller.
6.2 Fuzzy Logic Controller Design Using ANFIS
The fuzzy logic controller has been designed for boiler–
turbine dynamics using ANFIS. The membership func-
tions of proposed fuzzy logic controller have been shown
in Figure 6.
6.3 Evaluation of control performance
The simulations are conducted to evaluate the control
performance of boiler–turbine system on various set-
point changes and parameter variations. To validate the
performance of proposed controllers, two different case
studies are performed.
6.4 Electric load and pressure demand changes
To evaluate the control performance of optimal nonlin-
ear finite-time convergent controller, the various kinds
of set-point changes are considered for drum pressure
and electric power as follows:
ating point no. 4 {[y1ref ; y2ref ; y3ref  ¼ ½108; 66:65; 0g
until 200 s. At 200 s, the step input is applied to make
drum pressure demand change from 108 to 120 by
0
5 10 keeping other two variables at constant values. At 600 s,
the step input is applied for electric power demand
change from 66.65 to 120 by keeping other two variables
at constant values. The drum level is always desired to
be kept at zero.
The output response of the drum pressure (kg/cm2) y1 ,
electric power (MW) y2 , and drum level (m) y3 for single-
step demand change has been shown in Figure 7(a)–(d)
with the optimized tuning parameters using various EA
techniques. The results obtained using fuzzy logic control-
ler trained using ANFIS have also been shown. The time-
response specifications of finite-time convergent controller
such as rise-time overshoot and settling time with single-
step input have been tabulated in Table 4.
In Case 2, the control response of newly designed opti-
mal finite-time convergent controller has been evaluated
using multi-step inputs. Initially, the system is kept at
values as {[y1ref ; y2ref ; y3ref  ¼ ½110; 80; 0g until 400 s.
At 400 s, the first step input is applied such that it makes
drum pressure and electric power demand change as
{[y1ref ; y2ref ; y3ref  ¼ ½120; 100; 0g. Similarly, at 800 s,
another step input is applied and it makes demand
change as {[y1ref ; y2ref ; y3ref  ¼ ½130; 120; 0g. The drum
level is always kept at zero.
The output response of the drum pressure (kg/cm2)y1 ,
electric power (MW) y2 , and drum level (m) y3 , and the
controller outputs for multi-step demand change have
been shown in Figure 8(a) and 8(d) with the optimized
tuning parameters using various EA techniques.
 T. PIRAISOODI ET AL.: AN OPTIMIZED NONLINEAR CONTROLLER DESIGN FOR BOILER–TURBINE SYSTEM USING EVOLUTIONARY ALGORITHMS 9

122 135

Drum Pressure (Kg/Sq.cm)

Drum pressure(Kg/Sq.Cm)
120
130
118

116 125

114
Fuzzy 120
112
DE RGA
SADE
MPSO
DE
115
110 RGA SADE
GSA MPSO
GSA with chaotic maps
108
Set Point
110 Set Point
106
0 500 1000 1500
Time (Sec)
105
0 500 1000 1500
Time (Sec)
(a)
130
(a)
130
120
Electric Power (MW)

120

Electric Power (MW)

110

100 110

90 Fuzzy 100
DE
SADE RGA
80 MPSO
90 DE
RGA
GSA SADE
70
GSA with chaotic maps MPSO
Set Point 80
Set Point
60
0 500 1000 1500
Time (Sec) 70
0 500 1000 1500
Downloaded by [University of Connecticut] at 23:56 30 August 2017

(b) Time (sec)

0.8
(b)
1
0.6
Drum Level (Mtr)

0.4

Drum Level (Mtr)

0.5
0.2

0 0
RGA
-0.2 Fuzzy SADE
DE
SADE -0.5 DE
MPSO
-0.4 RGA MPSO
GSA
GSA with chaotic maps Set Point
Set point
-0.6 -1
0 500 1000 1500 0 500 1000 1500
Time (Sec)
Time (sec)
(c) (c)
1 1

0.8 0.8
Controller Outputs
Controller Output

0.6 0.6

0.4 0.4
u1
u1
u2
u2
0.2 u3 0.2 u3

0
0 500 1000 1500 0
Time (sec) 0 500 1000 1500
Time (sec)
(d)
(d)
Figure 7: (a) Optimized drum pressure response with step input. Figure 8: (a) Optimized drum pressure response with multi-step
(b) Optimized electric power response with single-step input. (c) input. (b) Optimized electric power response with multi-step
Optimized drum-level response with single-step input. (d) Opti- input. (c) Optimized drum-level response with multi-step input.
mized controller outputs for single-step input (d) Optimized controller outputs with multi-step inputs

Table 4: Time-response specification of output responses with step input – finite-time convergent controller
y1 y2 y3
Method %Mp Rise time (s) Settling time 5% (s) %Mp Rise time (s) Settling time 5% (s) %Mp Rise time (s) Settling time 5% (s)
Fuzzy 8.66e¡4 34.21 252.72 9.29e¡4 72.92 706.40 85.74 0.24 1484.6
DE 0.0014 35.07 254.06 5.42e¡4 69.86 702.15 135.57 0.13 1477.6
SADE 0.0015 34.02 252.35 0.0014 73.03 706.35 97.52 0.21 1483.8
MPSO 6.4e¡4 34.80 253.48 3.81e¡4 72.76 705.80 82.86 0.26 1485.0
RGA 8.6e¡4 34.22 252.73 9.3e¡4 72.92 706.40 85.74 0.24 1484.6
GSA 1.55e¡3 96.18 361.77 3.57e¡3 78.56 774.90 90.22 0.32 1529.5
GSA with chaotic 7.2e¡4 65.66 280.29 0.2922 74.56 742.23 86.23 0.33 1482.2
 10 T. PIRAISOODI ET AL.: AN OPTIMIZED NONLINEAR CONTROLLER DESIGN FOR BOILER–TURBINE SYSTEM USING EVOLUTIONARY ALGORITHMS
7. CONCLUSION
This paper presents an optimal nonlinear controller
design for boiler–turbine system using EA techniques.
The third-order boiler–turbine system which is highly
nonlinear and complex has been taken for optimized
controller design. The present work explored the possi-
bility of application of newly developed nonlinear con-
trol technique called finite-time convergent controller to
third-order boiler–turbine system. After designing
finite-time convergent controller for the third-order
boiler–turbine system, the tuning parameters involved
in this controller have been optimized using EAs DE,
SADE, MPSO, RGA, GSA, and GSA with chaotic maps.
To compare the performance of proposed optimized
finite-time convergent controller fuzzy logic controller
trained using ANFIS has also been simulated. The opti-
Downloaded by [University of Connecticut] at 23:56 30 August 2017
mal finite-time convergent controller provides satisfac-
tory performance. Even though all EA techniques
provide satisfactory performance, SADE offers more
consistent statistical performance for this specific prob-
lem. The results have been validated for various types of
set-point changes like single and multi-steps. The track-
ing performance of the plant for large variations of set
points (operating points 1–7) has been evaluated. The
simulation results reveal that newly designed optimized
finite-time convergent controller provides satisfactory
performance for boiler–turbine system. Also, the
designed controller is adaptive and robust under various
operating conditions.
ACKNOWLEDGMENTS
The authors gratefully acknowledge the management of Tamil
Nadu Electricity Generation and Distribution Corporatation
Limited (TANGEDCO) and Tuticorin Thermal Power Station
(TTPS), Tamil Nadu, India for their constant support and
encouragement to carry out this research work. The authors
thank the management of National Engineering College,
Kovilpatti, Tamil Nadu, India for providing necessary facilities
to proceed this research work. The authors gratefully thank
Dr. S. Baskar, Professor & Head, Department of EEE, Thiagar-
ajar College of Engineering, Madurai, Tamil Nadu, India for
his valuable support.
DISCLOSURE STATEMENT
No potential conflict of interest was reported by the authors.
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 12 T. PIRAISOODI ET AL.: AN OPTIMIZED NONLINEAR CONTROLLER DESIGN FOR BOILER–TURBINE SYSTEM USING EVOLUTIONARY ALGORITHMS

Authors
T. Piraisoodi (Thiagarajan Piraisoodi)
received the BE degree in Electrical &
Electronics Engineering, ME degree in
Control Systems from Manonmaniam
Sundaranar University, Tirunelveli,
Tamil Nadu, and Jadavpur University,
Kolkata, India, during 2000 and 2005,
respectively. His current research interest
includes nonlinear controller design,
evolutionary algorithms, process control, and power plant
optimization. At present, he is a research scholar in the
Department of Electrical & Electronics Engineering, National
Engineering College, K. R. Nagar, Kovilpatti, Tamil Nadu,
India.
E-mail: piraisoodi0324@gmail.com
Downloaded by [University of Connecticut] at 23:56 30 August 2017
head, Department of Electrical & Electronics Engineering,
National Engineering College, Kovilpatti, Tamil Nadu, India.
E-mail: willjuice001@gmail.com
K. Mohaideen Abdul Kadhar (Kattuva
Mohaideen Abdul Kadhar) received the
BE degree in Electronics & Communica-
tion Engineering, MTech. degree in Con-
trol & Instrumentation Engineering, and
PhD degree in Electrical Engineering
from Anna University, Chennai, India,
during 2005, 2009, and 2016, respec-
tively. His current research interest
includes control systems, evolutionary algorithms, multi-
objective optimization, and data analytics. At present, he is
working as an assistant professor (SG) in Dr Mahalingam Col-

M. Willjuice Iruthayarajan received the lege of Engineering & Technology, Pollachi, Tamil Nadu,
BE degree in Electrical & Electronics India.
Engineering, and ME degree in Control
& Instrumentation Engineering from E-mail: abdulkappuva002@gmail.com
Manonmaniam Sundaranar University,
Tirunelveli, Tamil Nadu, Anna Univer-
sity, Chennai, India during 1996 and
1998, respectively. He completed his
PhD degree in Electrical Engineering
from Anna University, Chennai, during the year 2010. His
current research interest includes control & instrumentation,
evolutionary algorithms, process control, and power plant
optimization. At present, he is working as a professor and