CHE 185 PROCESS

CONTROL AND DYNAMICS

PID CONTROL APPLIED TO
MIMO PROCESSES

PID FOR MULTIPLE INPUT/MULTIPLE

OUTPUT (MIMO) SYTEMS
COMPARISON BETWEEN CENTRALIZED AND
DECENTRALIZED CONTROL
DECENTRALIZED (MULTILOOP) CONTROL HAS
SEVERAL SINGLE LOOP CONTROLS IN PARALLEL
FOR A SINGLE PROCESS. REACTION SYSTEM
EXAMPLE:

AC
TC

LC

PID FOR MULTIPLE INPUT/MULTIPLE

OUTPUT (MIMO) SYTEMS
THE ALTERNATE TO THIS APPROACH IS
CENTRALIZED (COORDINATED) CONTROL AND FOR
THE SAME SYSTEM IT WOULD LOOK LIKE:

CONTROLLER

T L

PID FOR MULTIPLE INPUT/MULTIPLE

OUTPUT (MIMO) SYTEMS
THERE ARE SPECIFIC ADVANTAGES TO WORKING
WITH SINGLE INPUT SINGLE OUTPUT (SISO) LOOPS
BECAUSE THEY CAN BE TUNED AND OPTIMIZED
INDEPENDENTLY
THE INTERACTIONS (COUPLING) CAN TAKE PLACE
THROUGH THE PROCESS
FOR THE EXAMPLE SYSTEM , THE COMPOSITION MIGHT
BE AFFECTED BY TEMPERATURE CONTROL BECAUSE THE
TEMPERATURE AFFECTS THE REACTION RATE
SIMILARLY, TEMPERATURE MIGHT AFFECT THE MEDIA
DENSITY, WHICH COULD HAVE SOME IMPACT ON THE
RESIDENCE TIME IN THE UNIT AND THE LEVEL CONTROL

PID FOR MULTIPLE INPUT/MULTIPLE

OUTPUT (MIMO) SYTEMS
THERE ARE SPECIFIC ADVANTAGES TO WORKING
WITH SINGLE INPUT SINGLE OUTPUT (SISO) LOOPS
BECAUSE THEY CAN BE TUNED AND OPTIMIZED
INDEPENDENTLY
THE INTERACTIONS (COUPLING) CAN TAKE PLACE
THROUGH THE PROCESS
FOR THE EXAMPLE SYSTEM , THE COMPOSITION MIGHT
BE AFFECTED BY TEMPERATURE CONTROL BECAUSE THE
TEMPERATURE AFFECTS THE REACTION RATE
SIMILARLY, TEMPERATURE MIGHT AFFECT THE MEDIA
DENSITY, WHICH COULD HAVE SOME IMPACT ON THE
RESIDENCE TIME IN THE UNIT AND THE LEVEL CONTROL

PID FOR MULTIPLE INPUT/MULTIPLE

OUTPUT (MIMO) SYTEMS
MIMO REFERS TO
THE GENERAL
CONFIGURATION OF
THE CONTROL
SYSTEM WITH
MULTIPLE INPUTS
AND OUTPUTS
CONSIDER THE
SYSTEM SHOWN AS
FIGURE 15.1.1

EXAMPLE OF A 22
MIMO PROCESS
TWO INPUTS:
SETPOINTS FOR
FLOW
CONTROLLER ON
STEAM AND
REFLUX.
TWO OUTPUTS:
COMPOSITION OF
PRODUCTS B AND
D

PID FOR MULTIPLE INPUT/MULTIPLE

OUTPUT (MIMO) SYTEMS
THE STEADY STATE TRANSFER FUNCTION FOR
THIS COMBINED SYSTEM CAN BE EXPRESS AS:

Y1( s ) G 11( s )
Y ( s ) G ( s )
2 21

G 12 ( s ) C 1( s )
G 2 2 ( s ) C 2 ( s )

STEADY STATE COUPLING

THE RELATIVE GAIN ARRAY (RGA) IS A MATRIX OF THE
GAINS AND PROVIDES A MEASURE OF THE STEADYSTATE EFFECTS OF COUPLING
FOR THE 2X2 SYSTEM ABOVE:

RG A
21
11

12

2 2

PID FOR MULTIPLE INPUT/MULTIPLE

OUTPUT (MIMO) SYTEMS
THE TERMS HAVE THE FOLLOWING VALUES AS
PARTIAL FUNCTIONS
Y1
Y1

11

21

C1
Y1

1
Y2

C1
Y2

C1

C 2

Y2

Y1

Y2

Y2

C 2

Y2

C 2

Y1

Y1

12

22

THE RELATIVE GAIN ARRAY (RGA) REPRESENTS

THE PROCESS GAIN WITHOUT COUPLING
RELATIVE TO THE PROCESS GAIN WITH
COUPLING

PID FOR MULTIPLE INPUT/MULTIPLE

OUTPUT (MIMO) SYTEMS
EVALUATION OF EACH OF THE TERMS IN THE
RGA HELPS DETERMINE THE DEGREE OF
COUPLING
AS THE VALUE FOR THE TERM 0, THERE IS LESS
INTERACTION, COUPLING INCREASES AS THE
VALUE INCREASES.
EXAMPLES OF INTERACTION ARE SHOWN IN THE
TABLE ON THE NEXT SLIDE

PID FOR MULTIPLE INPUT/MULTIPLE

OUTPUT (MIMO) SYTEMS

PID FOR MULTIPLE INPUT/MULTIPLE

OUTPUT (MIMO) SYTEMS
THE STEADY STATE GAIN MATRIX FOR THE 2X2
SYSTEM IS:
K K

K
K

11

12

21K

22

THE TWO CONTROLLERS MUST BE TUNED

SIMULTANEOUSLY TO ACHIEVE STABILITY AND
PERFORMANCE
.THE VALUES OF THE MANIPULATED VARIABLES
THAT MEET CONTROL VARIABLE TARGETS MUST
BE DETERMINED SIMULTANEOUSLY
.AS THE INTERACTION INCREASES, THE SYSTEM
BECOMES MORE MULTIVARIANT AND LESS
SINGLE VARIABLE

PID FOR MULTIPLE INPUT/MULTIPLE

OUTPUT (MIMO) SYTEMS
OTHER RGA CHARACTERISTICS
VALUES ARE SCALE INDEPENDENT - SO WILL BE
CORRECT AS LONG AS UNITS ARE CONSISTENT
FOR ALL TERMS
AS SHOWN IN EQUATION 13.2, THE VALUES CAN
BE DETERMINED FROM THE OPEN LOOP DATA.
OTHER TERMS CAN BE EVALUATED BY TAKING
ADVANTAGE OF THE FACT THAT THE RGA ROWS
AND COLUMNS MUST SUM TO ZERO.
RELATIVE GAIN TERMS CAN BE VERY SENSITIVE
TO ERRORS IN THE GAIN CALCULATION

PID FOR MULTIPLE INPUT/MULTIPLE

OUTPUT (MIMO) SYTEMS
DYNAMIC FACTORS IN CONFIGURATION
SELECTION
THE RGA VALUES DISCUSSED ABOVE ARE
FOR SYSTEMS WITH THE SAME DYNAMIC
BEHAVIOR
WHEN ONE OF THE LOOPS HAS FASTER
OR SLOWER DYNAMICS THAN THE
OTHERS, THE SELECTION OF PAIRINGS
CAN BE CHANGED

PID FOR MULTIPLE INPUT/MULTIPLE

OUTPUT (MIMO) SYTEMS
A FAST LOOP COUPLED WITH A SLOW
LOOP CAN BE TUNED AS THOUGH IT IS A
SINGLE LOOP CONTROLLER WITHOUT
INTERACTION
FOR A SLOW LOOP, THE TUNING CAN BE
ADJUSTED BY MULTIPLYING THE SINGLE
LOOP CONTROLLER GAIN BY THE
APPROPRIATE TERM IN THE RGA - THUS
PROVIDING A BIAS FOR THE GAIN

PID FOR MULTIPLE INPUT/MULTIPLE

OUTPUT (MIMO) SYTEMS
WHEN LOOPS HAVE SIMILAR DYNAMICS,
BOTH LOOPS NEED TO BE DETUNED
FROM THEIR SINGLE LOOP SETTINGS
MANUAL TUNING IS RECOMMENDED
WORKSHOP #14 IN THE CONTROL STATION
PACKAGE IS AN EXAMPLE OF THIS
SITUATION.

PID FOR MULTIPLE INPUT/MULTIPLE

OUTPUT (MIMO) SYTEMS
SENSITIVITY TO DISTURBANCES
PROCESS VARIABLES HAVE DIFFERENT
RESPONSES TO VARIOUS TYPES OF
DISTURBANCES
EXAMPLE 15.3 IN BOOK LOOKS AT
DISTILLATION COLUMN DYNAMICS FOR
VARIOUS CONFIGURATIONS
THE RESPONSES MAY NOT BE THE SAME FOR
ALL TYPES OF DISTURBANCES, COMPOSITION
VS. FLOW FOR DISTILLATION COLUMNS

PID FOR MULTIPLE INPUT/MULTIPLE

OUTPUT (MIMO) SYTEMS
DECOUPLERS
DECOUPLING IS APPLIED WHEN THERE ARE
TWO SIGNIFICANT OUTPUTS THAT HAVE
EQUAL IMPORTANCE AND WHICH ARE
NEGATIVELY AFFECTED BY COUPLING
METHODS TO DECOUPLE THE VARIABLES
INCLUDE
ALTERING THE MANIPULATED VARIABLES
ALTERING THE CONTROLLED VARIABLES
ALTERING THE FEEDBACK CONTROL
CALCULATION

PID FOR MULTIPLE INPUT/MULTIPLE

OUTPUT (MIMO) SYTEMS
DECOUPLERS
A DECOUPLER ACTS LIKE A FEED FORWARD
CONTROL AND CAN BE INSERTED IN THE
LOOP TO CHANGE THE FEEDBACK SIGNAL