2011 9th IEEE International Conference on Control and Automation (ICCA) Santiago, Chile, December 19-21, 2011 WeaBa Control of Supersaturation in Batch Cooling Crystallization by Robust State Feedback Linearization Jochem Vissers, Pieter Jansen and Siep Weiland Abstract—This paper discusses control of seeded batch cooling erystallizers by supersaturation tracking control. Batch crystallization is characterized by nonlinear behavior through- ‘out the complete batch period. Tn this paper, state feedback linearization is used to create a linear input-output mapping for the absolute supersaturation. It is shown that by implemen: {ation of a nominal slate feedback law, the nonlinear model ‘an be represented by an uncertain linear model with an input disturbance. This method can be used to account for parametric model uncertainty in the design of a robust }.-controller Simulation results of control with an }1..-controller and a Model Predictive Controller (MPC) in combination with state feedback linearization reported, I. INTROpUCTION Crystallization isa widely used separation method to refine raw materials to a high purity, e.g, for the semi-conductor and pharmaceutical industry. Accurate process control is of key importance for high-quality products and economical for benefit, The quality ofthe final product, expressed by crystal size, shape, purity and lattice structure (polymorphism), depend on the process conditions during operation [5]. When carried out as a batch process, crystallization is typically characterized by nonlinear behavior throughout the complete batch period (21. In this research the method of state feedback linearization is used to overcome the nonlinear process behavior and is combined advanced robust linear control techniques. In order to be applicable in industrial environments, con- trol methods have to be robust to a certain level of model uncertainty and measurement errors, Feedback linearization i not popular in industrial environments, since its is believed to be sensitive to model uncertainties and measurement errors. In this work we analyze the sensitivity of the feedback linearization method to parametric model errors and actua- tor disturbances for an industrial seale batch crystallization process, In the past, only temperature measurements were available for on-line control of the process. Therefore, control of Industrial batch crystallizers has initially been focused on tracking the of an off-line predefined temperature trajec~ tory [4] [9]. New measurement technologies made it possible to observe the supersaturation level, which is the underlying physical property of the growth rate, This has initiated the evelopment of new control approaches [10] [12] [6] for “Thc work was supported by the Dutch Separation Technology Insite 1. Vises ig PaDestadent, Pieter Taneen te gradation staset and S Weiland is full professor with he Faculty of Electical Eogiecting, Contol Systems, Eindhoven University of Tecnology. 5600 MB Eindhoven, The Nehetlands |-a-w.vissers@tue-nl, 2-Weilandatue-nl 978-1-4577-1476-4111826.00 ©2011 IEEE batch cooling crystallization, In this work we propose a novel method to control the supersaturation in a cooling crystallization process. Supersaturation is considered to be the driving force for crystal growth. Therefore, it can be assumed thatthe final product quality is stwongly influenced by the supersaturation level during the batch petiod [5], This paper is organized as follows. In Section I the ‘method of feedback linearization introduced. In Section TIL ‘an introduction to the batch cooling crystallization process is provided and a model to describe the proces dynamics is introduced. The method of feedback linearization is applied to batch cooling crystallization in Section IV. In Section V the synthesis of two linear contollers is be discussed. ‘Simulation results are presented in Section VI. In the final section the conclusions and recommendations are presented, ‘A detailed overview of the model parameters is provided in the Appendix of this work. TI, FEEDBACK LINEARIZATION In this section state feedback linearization in presence of paramteric uncertainties is introduced, We show how additive uncertainties in the nonlinear plant model can be incorporated in the method of feedback linearization, in order to obtain @ system with linear dynamics and uncertainty descriptions that are suitable for design of a controller by design methods for linear systems such as robust H..~ control. The work is based on [9] A. Introduction to Feedback linearization State feedback can be used to linearize the inpurvoutput ‘behavior of a non-linear system by a state dependent control law u = W(x,0) as given in [2] oF [7]. More precisely wwe have the following definition. Let f(z) : BY + RY o(2) RR" and h(z) :R > R, all sufficiently smooth and Lipschitz continuous Definition The nonlinear system (a) «aby B= f(x) + ole) y h(x) is called inpuvoutput linearizable if a state dependent control law u = (2, v) exists, such that if u = Y(e, v) is applied, the relation between 1 and y is linear We will use the notion of the Lie derivative, for which we refer to [7]. Moreover, we will use the notion of the relative degree of a system, defined as follows. The relative degree of the system can be considered as the number of times we m4 [Authorized Ieonsed use iite o: Pusu Unversity. Downloade on January 24,2024 at 2:15:45 UTC fom IEEE Xplor, Restctons ahave to differentiate the output y before the input « appears explicitly. Definition System # — f(z) + 9(x)w with y = h(z) is said to have relative degree r at 29 if, Lybhh()=0 k= 0,...7-2 ad LL 'h(x) #0 2) for all x in the neighborhood of zo, Using the notion of the relative degree, one can test if a system is inpuvoutput linearizable by the following theorem. ‘The proof is given in (7] Theorem 1: A system = f(x) g(z)u, y input/output lineatizable if and only if the system has relative degree + with 0.< 1 < 00. (Once it is known that a system is inpuVoutput linearizable, a linearizing feedback law can be caleulated by applying the following theorem. A(z) is B. Feedback linearization with uncertain models In practice, the model parameters used to design the state feedback law V(r,v) will never exactly match the real process parameters. Therefore, some parameters are considered to be uncertain and we will introduce a method to analyze the effect of these parameter uncertainties on the feedback linearized system. Introduce @ set of p-dimensional parameter vectors @ C RF, The parameter-vector # < @ is, a realization of p uncertain parameters, and the parameter- vector &, € @ represents the nominal parameter vector, which will be used in a nominal model, Suppose that the state dynamics in the system from Equation (1) to be dependent on @ and given by: $(=,0) = F(2, On) + fs(#) = falz) + foln) ‘The resulting state feedback closed-loop system can be regarded as a linear system under additive uncertainty, ac- conding to the following theorem based on [9] Theorem 2: Consider an inpuvJoutput linearizable dynam- ical system under additive uncertainty and relative degree r, given by: 1 = Sale) + Jnl) Ga) a= foal) + frale) = alee Gt) y= hz) Ge) Jn = Um Soal"s fs=[aefel"s 2 = [e2al" Define the state feedback law w= W, (2,0) (a2) = Eo TNO) 4 BLoLj, hz) Where Ao, Bk © R, together with the coordinate tansfor- sation Fe} WeaBa Then, with u = (2,0) applied to the system from ‘equation (3), the input/output mapping » + y, can be written as the uncertain linear system: €= AWE + But Wad yack where Wy is a weight matrix, |d] << 1 represents a perturbation and A(8) represents the paramterized matrix. Proof: Applying the coordinate transformation on the uncertain system (3) results in the following representation, a) (6b) = Snala) + foto) % Seah ha ty Lith rol ®) Sem Bj k= Ly lh Ah Lob *h(e) ® With feedback law u = q(x, 0) applied, the closed-loop system can be described by te oné.d) 4 SE RG Ann G 8) B= L rT (100) wv the ‘ , aor Lae Ae(n6:8) (106) with Ax(7, €,8) = Ly,L4—*h(x) dependent on 1, € and 6, To isolate the linear dependent part of Ay on & Ay can be written as, ds On, x = 2k, ade, (68) An Gea Bek + Aatn. 8) = Bix (O)Ea + Sia (O)ka +--+ bir (O)be + Axle 6,8) where Ay contains all parts of A which are not linearly dependent of €, and will be treated as an unstructured disturbance term, The closed-loop system can be re-written lo the linear state space representation (6) with: Ale) = Bie aye B=[oo yo and We [at at ooo With wi such that for the admissible part of the state space AX, we have: {ACE 0,8)|(6.9) € for i= 1k. . IL is remarkable that the parameters 3; and therefore also the poles of the feedback linearized system can be chosen arbitrary. However, the parameters can significantly affect the robustness of the complete control setup with respect to ‘measurement noise. Once linearized, is possible to use linear robust contol theory for the design of an Hae-controller as we will shown in the next sections, 90} C {w'd), ld <1} ms [Authorized Ieonsed us ite o: Pusu Unversity. Downloaes on January 24,2024 at 2:15:45 UTC fom IEEE Xplor. Restctons aIIL, DyNAMIc MODEL FoR BATCH COOLING CRYSTALLIZATION In this section we will inoduce batch cooling crystal lization and derive a process model suitable for feedback lineatization Cooling crystallization is @ separation method, based on the change in solubility of a material with respect to the solvent temperature. At a given temperature « maximum amount of solute can dissolve in the solvent, which is de- scribed by the saturation eure ¢yue(T) The saturation eurve is typically obtained from measured data and is assumed to be given in this work. Supersaturation can be created by cooling a saturated solution. Tn this case the solute concentration becomes higher than the saturation curve at a given temperature. “The supersaturation level is commonly expressed by the difference between the solute concentration c and the satura- tion curve c.q1(T). The absolute and relative supersaturation, axe defined by, S4l6,T) =0~ cua(T), = Gvat(T) eat) respectively. Throughout this paper the term supersaturation will refer tothe absolute supersaturation $,(c, 7) ‘A supersaturated solution tends towards a thermodynamic equilibrium, This is accommodated by deposition of material fiom the liquid phase to the solid crystalline phase, which is reflected in the growrh of crystals and is called crystal lization, The crystal growth rate typically depends on the supersaturation level Th seeded batch cooling crystallization the process is sarted by adding an amount of seed caystals to the super- saturated solution. The seeding method ensures a reliable reproducibility of the initial batch startup. Due to the transfer of material, the solute concentation, will decrease and tend towards the saturation curve to reach its equilibrium. To maintain crystal growth, the reactor temperature needs to be lowered to maintain the level of supersaturation, Figure I shows atypical tajectory by which 4 batch cooling crystallization process is characterized. The ap Sele T) a2) Fig. 1, Typical ppecttration trjctory (orange dashed line), with 1 > 2 Talal cooling, 2 Seeding. 2 $ cooling, Gal stale at fal ezperase current control strategy used in industry is based on the track: ing of a predefined temperature trajectory. This strategy is, WeaBa largely an open loop strategy with respect to supersaturation and is not robust to model errors, The aim of this work is to tenable to control the supersaturation level in closed loop, in ‘order to increase robustness with respect to model errors. Nucleation covers the formation of new crystals and is also dependent on the supersaturation level. In this work no dis- tinction is made between formation of entirely new crystals (primary nucleation) and formation of particles from already existing exystals (secondary nucleation) by for instance e.. crystal breakage. The presented method is, however, not restricted by this assumption, A. Dynamic model for Batch Cooling Crystallizer The model used in this work is based on the well es- tablished moment models, which are commonly used for ‘modeling crystallization processes. The process parameters ‘and crystallization kinetics are adopted from [11], which describes the crystallization of potassium nitrate (KNOs) from water (H,0), and can be found in Appendix B. ‘The crystallizer is modeled as a reactor of Lm* with ‘cooling and heating jacket. The jacket temperature T, is the input and the reactor temperature T, the solute concentration ‘cand the first 4 moments can be measured, Using the mass ‘and heat balances dynamic model for the crystallizer will bbe derived, ‘The model is based on the following assumptions. 1) The total mass inside the erystalizer is constant, 2) The solution is perfectly mixed. 3) The growth rate is independent of the crystal size. 4) Heat wansfer only occurs from the jacket to the reactor and vice versa. No environmental heat loss is modeled, 5) The process is operated only at a positive supersaturation level S, > 0. ‘A well established way of modeling the state of the population of particles, is to use a population balance [8] It is common to characterize particles by their size, such ‘that state becomes the Crystal Size Distribution (CSD). The time evolution of the CSD is modeled as follows (11) Ld —_eye,n as ( BUT) , F(0,t) Gety feeea(L). (13b) ‘The size of a crystal is defined by a characteristic length L and ¢ denotes time, The CSD f(J.,4), which represents the ‘number of crystals at erystal length L at time instant ¢, The initial condition is given by the CSD of the seeds (J, 0) Sacea()- The rate of nucleation B(c, 7) and the growth rate G(e,T) depend on the concentration ¢ and temperature T. To reduce the complexity, the partial differential equa tion (13a) is transformed into a set of ordinary differential ‘equations by a moment transformation [11]. The moments are defined as function of f(L, ), as follows: m= [Pesta §20,1,2,..,n, (14) ‘The moments jio(2), jt). a(t) and jos(t) comespond to the number of crystals, the erystal length, the crystal surface m6 [Authorized Ieonsed us ite o: Pusu Unversity. Downloaes on January 24,2024 at 2:15:45 UTC fom IEEE Xplor. Restctons aand the crystal volume per unit volume respectively. Using the moments, a closed set of ordinary differential equations for the first four moments j4o(t),..- (8) of the CSD can be obtained. ‘The mass balance couples the liquid phase and the popu- Iation balance, since it is assumed that the concentration is, directly related to the third moment €(8) =co + peksh(ua(0) ~ pal), as) ‘The initial solute concentration (0) is indicated by co, pe represents the crystal density, h is a conversion factor equal (© the volume of sluny! per mass of solvent, and y1s(0) = a scot “The cuergy balance is modeled as follows AV (OD = — Sp ke VAHL EMMA) VA) - GO) (16) Here the jacket temperature T, serves a8 the input to the system, AH, represents the heat generation due to erystal- lization, cp denotes the heat capacity of the solution and the inital condition T(0) = Tp By combination ofthe frst four moments inthe population, balance, the mass balance and energy balance, the non-linear rode! of the system in the form of equation (1) is obtained 26h Th neue riby MHels)Gltn, Tig TA eolis) wV eta) J BS) .y=SeleT). (7) L a¥e,(03) where the system input 1 is the jacket temperature ‘Its assumed that the crystal nucleation (or birth) and crys tal growth are given by the following empirical expressions, which are based on the relative supersaturation, BUosT ps) = bake SeleT) Hs, Gl6T) = keSelesTY. 1s) a9) ‘The birth rate approximates the effects of secondary nucle- ation IV, STATE FEEDBACK LINBARIZATION APPLIED TO BATCH COOLING CRYSTALLIZATION A. Supersaturation State Feedback Linearization for a nom: inal model State feedback linearization is now applied to the batch. cooling crystallizer model in order to linearize the transfer from the jacket temperature to the absolute supersaturation ‘The system is described by the dynamical model as in "The entie mas of material inthe tesco, comprising solvent, solute and sold ext. WeaBa ‘equation (17), with the output defined as the absolute su- persaturation, The first time-derivative of the output depends explicitly on the input 1, which makes the relative order 1 = 1. The state feedback law is defined according to (4) and is given by: v= Boh(2) ~ Lyh(2) u=¥(2,0) = DL Eps), W(x, ¥) Lhe) (20) with Ahi), Ohl . gna) =e,» Po an Dgh(z) 20:7) pcs) (ay Where we have patitioned—_f(2) - filz), falz), falz), faz), fo(z)]' as im 17) for B. Supersaturation State Feedback for an uncertain model Subsequently an uncertainty description for the feedback linearized model will be derived by applying of theorem 2. Parametric uncertainty is considered for the growth rate parameters from equation (19). That is, we assume hy =k, + Wide, (23) 9 =I0 + Wade 236) where (ke,dn) © @ C R? is a vector of nominal parameters, and'3, and 6, are real valued uncertainties with ul <1, [6] <1. Wi and W, represent weights to scale the uncertainty, This implies that the growth rate can be decomposed in a nominal and disturbing part according to, Wide (SE + As) G(T) = be S8 + bonds where As -= si") 97, With Gy and Gs as above, an uncertain model of the form (3) is defined by, E—fala) + fale) + oe) (24) y =c(z) — cvar(2) (25) where f(z) = /(2) with G replaced by Gi, and sesh s(x) 3G s (un Tne _ Bpeky AH us )Gs(us, Tine e ep(us) a@)=| ga, | = [l= [é] 6) PV esas) With @ nominal state feedback Iw as in equation (20) applied to the system and a nominal coordinate transfor- ration defined as (y,)' = [Za,h(za))", a linear system representation is writen as in equation (10): = Arle) (27a) (1b) m7 [Authorized Ieensed use ite o:Puduo Unversity. Downloade on January 24,2024 at 21545 UTC fom IEEE Xplor. Restctons aHere, x(x) follows from equation (10) Wea ven) -BncGuna (as 20a 2Z—n) en Wie Sa cniler te peatton willbe teu habe ihe er apr gs Se vot st fateh es ‘2(t) resides during normal process operation. For the im- pnt» on ho pi. Aso bound for A; (zs) is given by its maximum value over the canna st ner Wa = max |Ai(zs) (29) Clty, he andes fm of gion (i tee re a= i nn esto wl discuss the design of two linear controllers based on this a YV, SYNTHESIS OF LINEAR CONTROLLERS FOR SUPERSATURATION TRACKING. A robust controller using the Hae framework and a Model Predictive Controller based on the nominal model are de- signed, both with the purpose to track a desired supersatura- tion wajectory Sy. The controllers ate interconnected to the state feedback Linearized system as shown in Figure 2, Fig. 2, Complete contol step, Advanced Linea Control (ALC) combined ith State Feedback Tineanzation (SFL). P Denotes the uneran plan A. Hoe controller design A weighted sensitivity setup as in Figure 3 is used to design a robust controller, Hae-synthesis is used to find a controller Kx that optimizes the infinity norm of the closed loop transfer function T, [Tews Tose] [ MuSBoIWe Weert, =| BOS ESF |=] were, werw, Lt ae | werewi wisw, Here $ = (1 + Pak)" defines the sensitivity, 7 = P,(I4+-PyKao)~! defines the complementary sensitivity and RR = Kuo(I+P,Kae)~? defines the control sensitivity. The ‘weights are chosen to balance the controller performance and robustness. The input filter W7,4(s) is high pass to penalize high frequency input signals. The filter on the tracking error We is low pass to focus control on low frequency tracking errors. The output filter W, is set to 0 to focus on sensitivity shaping. The filters are defined as, 5s +10 Ods +04 We= sits’ = Sy 0002 W,=1, Wa 0, Mas Using the Hoo-framework a controller Ky has been synthesized for the given weighting filters and state feedback Fig. 3. Setop for Hn-syuhesis parameters 8 = 1 and = 0.5, With the synthesised controller we find |/T|ny < 0.9487, Simulations results with the controller are presented in Section VI B. Model Predictive Controller design A MPC-contolleris designed to compare the performance With the Hp contoller The controller is synthesized for the nominal linearized model P,. The model is converted to a discrete-time incremental stale space model using a zer0 ‘order hold method and sazmpling time 10 See The quadratic cost criterion J weights the predicted twacking error e() and predicted input changes Av(k). To make the MPC-conttoller independent of the state feedback parameters J; in B,, the input change penalty mauix 2 is pre-and post-muliplied by B, = (0, 2|". This equalizes the contzibution of Av in the tracking error and input-change weighting in the cost function, defined as IEAO) Va) = > (4) Qeth) + Av(k)" RAW) + e(N)" Pe(N) G0) Va =[80(0), Av(1),..., Avg ef) =ylk) — r(8) BD R=B! RB, Von =are min F(E(0), Va) G2) ‘The MPC control horizon is chosen to be equal to the prediction horizon given by N’ = 60. The final penalty matrices are given by, R = 750, Q = 1, and P = 1 ‘Although MPC is famous for taking constrains into ac- ‘count, this is not straightforward in combination with state feedback linearization [I]. Let the actuator constraints be given by T; = u [ua], We attempted to incorporate these constraints in a conservative manner has been made by calculation of bounds [v, 5] on v such that the constraints fon u are statisfied for all x5 € Ay. Unfortunately it turns ‘out that the set [v, 3) is empty, ie. [v,] = 0, such that the constraints cannot be handled by the linear MPC approach presented here VI. SIMULATION RESULTS ‘Simulations have been carried out to investigate perfor- mance of linear control techniques on the state feedback linearized system, Parameter mismatch is investigated by simulation of a tracking problem, Secondly, the effect of me [Authorized Ieensed use ited io: Puro Unversity. Downloade on January 24,2024 at 2:15:45 UTC from EEE Xpl. Restcons acldisturbance on the jacket temperature is analyzed and the disturbance rejection by the controllers is analyzed. The linear and linearizing controller and the process model have been implemented in Matlab Simulink. A fixed but random noise sequence is used for every simulation, The standard deviation of the tracking error is denoted by a and is used as a measure for controller performance. The tracking error = Sy ~ Sa, where Si represents the desired supersaturation aajectory, is represented by the red-dashed line in the figures. A. Growth Rate Parameter Mismatch For this simulation, the growth rate parameters, ky and g, are assumed to deviate from the nominal parameter values. The parameter values and the estimation confidence region reported [3] are used to define the interval of parameter variations. It is assumed that the parameter interval as defined, in (23) is given by gy = 132, 6, = 0.03, log.(ky) 8.849 10°F 2 and 6; = 0.112 10-6 ‘The nominal state feedback law (2, v) is based on the nominal parameter values. The state feedback parameters are chosen a do = 1, i = 0.5, and define a closed loop pole of P,, at —2. The batch time is approximately 4 hours. Thee situations are simulated: case (1) nominal case where [9 = 1.82, ky — exp(8.849) - 10°], case (2) growth rate is smaller than estimated [9 = 132 + 0.03,k, = cxp(8.849-0.112)-10~8], and case (8) growth rate is larger than estimated [9 = 1.32 — 0.03, ky = exp(8.849 + 0.112) 10°), A representative trapezoidal supersaturation trajectory has been used as reference and is used check to controller stability and tracking performance for all eases Fig. 4. Response in presence of parameter vation for wapeoidal feleencetaecory Sold line: cse(1}, Dash-doted ie: case(2), Dached Tne ease(3) Figure 4 shows the response of the H..- and MPC- controller for the supersaturation output, linear input v, jacket temperature and vessel temperature as response to the reference trajectory. The standard deviation of the tracking WeaBa error, which is related to the error weight W, for the H..-controller is smaller than 0.947 mg(KNO4/ 11,0). The ability to anticipate on the reference trajectory results enables the MPC controller to realize a steady state error of less than 0.001 mg(K-NOs/H0) for the response between 60 and 140 minutes. It can be concluded that the tracking error is small for all cases ‘The exponential nature of the saturation curve with respect, to temperature can be seen from the vessel temperature response for the nominal case (1). Between 60 and 140 ‘minutes the supersaturation is kept constant. The matching jacket temperature results in a negative exponential tem- perature drop, theoretically tending towards minus infinity if the reference trajectory would not return to zero, This ‘emphasizes the fact that the jacket temperature will always reach the actuator limits up to the end of the batch when the desized supersaturation is nonzero. For ease (2) and (3) TABLET ‘STANDARD DEVIATION OF THE OUTPUT ERROR FOR A TRAPE:ZON [ronal Taso tar 7 Ta TST] USAT [Toews Toma) the growth parameter mismatch cause the linearization to be inaccurate, which is compensated by the linear controllers. ‘This can be observed in the differences between the linear input v for the cases 1 and 2 resp. 3. For case (3) both controller outputs « tend towards infinity. However, due to the finite nature of the crystallization process the control ‘output is bounded. Overall, both controllers are able to track the desired reference trajectory and compensate satisfactory for the presence of parameter mismatch in the growth pa- rameters. B. Jacket Temperature Disturbance Another possible source of errors is disturbances in the jacket temperature. This can be caused by for example, changes in temperature or pressure of the cooling meditm ‘Actuator disturbance is considered by addition of a low frequency disturbance di to the jacket temperature input Disturbance signal dy is realized by low-pass filtering of normally distributed zero mean white noise with standard deviation 0, = 0.4°C. The applied low pass filter is of fist order and has a pole at 10 2%, Again the three cases ‘of parameter mismatch were simiaed in combination with jacket disturbance, The resulting standard deviation on the ‘output tracking error with respect to the trapezoidal reference trajectory are given in Table Tl, The supersaturation output and the jacket temperature response due to both the Has- and MPC-controller are shown in Figure 5. Both controllers achieve a tacking error of less than 0.1 mg(KNOs/H20), From table TT ean be concluded that the MPC-conttller is almost two times as accurate as the Hay-controller. This is moainly due to the anticipation on the trajectory resulting in m9 [Authorized Ieensed use ited io: Puro Unversity. Downloaded on January 24,2024 at 21545 UTC from IEEE Xpke. Restctons aclWeaBa Fes REE [SBT wae Dar gow power Pe Ts owt ecrsaet | fy a7-10- Bockation exponent | 178 soho density - 110 olame shape factor | 1 - Comerion coe | 15062: 30°6 1 + ses2i . . * " Saturation parameters of | Ay 0.246 ES KNOS i ig. 5. Pros esonte in peeence of jek emperatre dstsbanee A saesio-> | sean, swale taking er We coociude thal hs approach i abe ae [uname | HS to compensate for low frequency fluctuations in the jacket albraion hea e ee TRO temperature of industrial batch cooling crystallizers. Com 8 FT parison between the simulations without actuator disturbance | B Ro {Table 1) and simulations with actuator disturbance ¢Table | "m7 & Tay 1 shows that the relative increase in standard deviation is & Sinicanly small forthe 1 contoller han forthe MPC. Egret oy a controller. Tair epee] Ty € "TRATECTORY IN PRESENCE OF /ACKET THMPERATURE DISTURBANCE me) % Contoler [oe 0) [se Tat vale) R an TTiKxosT amo} (0) e sec | 02% | oss loloxxox/onzol | | See Maw Mo , Sosa 0) * GS peat vine | i Meme eg | E im VI. Conetusion Goyal length mended | = fim ‘This paper presented a practical application of the state | SUL, n vs ‘nin feedback linearization method on a nonlinear industial seeded batch cooling crystllizer. State feedback linearization Ravzaencas bas een suvcessully applied and parametic model Uno8- ap nacms aah toon sea tainty has been taken into account. In this paper is shown that, supersaturation feedback contol is able to compensate for errors in the supersaturation response, even in the presence (2) of parameter mismatch or process disturbances. This results in reliable batch process control, which is of key importance [9] for high-quality products and larger economical benefit Moreover, the presented method provides a flexible approach 4, ‘where a process operator can directly manipulate the super saturation level in closed loop, and allows for an arbitrary (51 supersaturation trajectory during the batch, Therefore, the 1g, presented work contributes to reliable and flexible process conirol of industrial seeded batch cooling crystallization, m APPENDIX: A. SIMULATION PARAMETERS is For the simulation the following polynomial functions for the model parameter Cyae(T), AM. and cp(c) are assumed 11 exat(P) =Ay + ArT + Ag ‘10 AH.(c) =Bo + Bre + Bae’ =G+G(—)+a( mu Ire, Ite, a The coefficients are obtained from [11] 1120 9 ited to: Puro Univers. Downloas Sn MPCiteeahack lineairaion scheme” Int J of Applied Mathemat. ‘ee and Computer Srtence, wl, 19 0 2, pp. 219-252, fun. 2009 (© Rravaris and C-b. Chung. “‘Noalinea ste feedback synthesis by ‘lobalinpuosput linarzaion,” AICKE Journal, vol. 33,20. 4 pp. TL Matthews, . Miler and J. Rawlings, “Model idetseation for crystallization: Theory and expecimental teication” Poder Teck ology, ol $8, no. 3, pp. 227-235, Sep. 1996 ‘A. Mestab, “Optinal Operation of Industral Batch Ceytlizers ‘A. Myereon, Handbook of Indu! Crystalication Heinemann, 2001 2K. Nagy, "Model bated cobust control approuch for batch cys Isaton product design” Computers & Chemical Engineering, vo 33, 0.10, pp. 1685-1691, Oct 200, HL Nimejer and A. Van der Schaft Nonlinear dynamical onirol spatems. Springs, 1990, ‘A. Randolph sod MC. Lason, “A population balance for countable fentiies” Cam Chem Bing vol. 42, pp 280-281, 1964, Sampath S.Palans J Cockbur, and J Corson, “Robust conoller design for temperature tacking problems i jacketed batch reactors, eurma of Procers Control Wl 12,0, 1, pp. 27-3 Ja, 2002, I’ Vappl and C. Georgais, "Nonlinear model predictive contol of tnd-are properties in bach rescors” AICHE Journal, vol. #8, m0 9, pp. 2006-2021, Sep. 2002 Pome, “Consol of crystallization process based on population balances” PRD. dissertation, Uivesiat Magdebuy, 2004 W. Xie, S, Rohan and A. Phoenis, “Extended Kalman iter based oalinear geomet contol of seaded batch cooling eysalizer Can. Chem. Eng. vol. 80,20. L pp. L6P=173, Feb: 2002, Buerwon January 24,2024 at 2:15:45 UTC from EEE Xple. Restctons acl