Multiloop and Multivariable Control

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

Multiloop and Multivariable Control

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.
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Multiloop and Multivariable Control

Several simple physical examples

Process interactions :
Each manipulated variable
can affect both controlled
variables

Multiloop and Multivariable Control

MIMO

SISO

Multiloop and Multivariable Control

In this chapter we will be concerned with characterizing process

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
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Multiloop and Multivariable Control

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.

Multiloop and Multivariable Control

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 )
Y2 ( s )
Y2 ( s )
= G p 21( s ),
= G p 22 ( s )
U1 ( s )
U2( s )

(18 1)

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

written as:
Y1( s ) = GP11( s )U1( s ) + GP12 ( s )U 2 ( s )
Y2 ( s ) = GP 21( s )U1( s ) + GP 22 ( s )U 2 ( s )

(18 2 )
(18 3)
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Multiloop and Multivariable Control

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 ) =

Y
(
s
)
U
(
s
)
2
2

(18 5)

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
= 11
K =
G p 21( 0 ) G p 22 ( 0 ) K 21

K12
K 22
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Multiloop and Multivariable Control

Block Diagram for 2x2 Multiloop Control

1-1/2-2 control scheme

1-2/2-1 control scheme

Multiloop and Multivariable Control

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

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Multiloop and Multivariable Control

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.

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Multiloop and Multivariable Control

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 )
U1( s )

(second loop open)

G p12G p 21Gc 2
Y1( s )
= G p11
U1( s )
1 + Gc 2G p 22

(second loop closed)

Note that the last expression contains GC2.

 The two controllers should not be tuned independently
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Multiloop and Multivariable Control

Example: Empirical model of a distillation column

12.8e s
X D ( s ) 16.7 s + 1
X (s) =
7 s
B 6.6e
10.9s + 1

18.9e 3s
21s + 1 R( s )

19.4e 3s S ( s )
14.4s + 1

xD set-point response

Single-loop ITAE tuning

Pairing

Kc

xD - R

0.604

16.37

xB - S

-0.127

14.46

xB set-point response

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Multiloop and Multivariable Control

Closed-Loop Stability
Relation between controlled variables and set-points

Closed-loop transfer functions

where

Characteristic equation
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Multiloop and Multivariable Control

Example: Two P controllers are used to control the process

1.5
2
10s + 1 s + 1
G p (s) =

2
1.5
s + 1 10 s + 1

Stable region for Kc1 and Kc2

1-1/2-2 pairing

1-2/2-1 pairing

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Multiloop and Multivariable Control

Pairing of Controlled and Manipulated Variables

Control of distillation column
Controlled variables: xD , xB , P, hD , hB
Manipulated variables: D, B, R, QD , QB

Possible multiloop
control strategies

= 5! = 120

Column
pressure
Condenser heat duty

Reflux drum liquid level

Top flow rate
Reboiler heat duty Base liquid level

Reflux flow rate

Bottom flow rate

Bottom composition

Top composition

16

Multiloop and Multivariable Control

One of the practical pairing

R xD
QB xB
QD P

PC

D hD
B hB
AC1

LC1

AC2
LC2

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Multiloop and Multivariable Control

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.

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Multiloop and Multivariable Control

Example of RGA Analysis: 2 x 2 system

Steady-state process model
y1 = K11u1 + K12u2
y2 = K 21u1 + K 22u2

or

y = Ku

The RGA, , is defined as:

11 12
=

21
22
where the relative gain, ij , relates the ith controlled variable
and the jth manipulated variable

( yi / u j )u open-loop gain
ij
=
( 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

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Multiloop and Multivariable Control

Scaling Properties:
ij is dimensionless

i.

ii.

=
ij

ij

=1

For a 2 x 2 system,
11 =

1
,
K12 K 21
1
K11K 22

1
=

1

12 = 1 11 = 21

( = 11 )

Recommended Controller Pairing

It corresponds to the ij which have the largest
positive values that are closest to one.
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Multiloop and Multivariable Control

In general:
1. Pairings which correspond to negative pairings should
not be selected.
2. Otherwise, choose the pairing which has ij closest
to one.
Examples:
Process Gain
Matrix, K :

Relative Gain
Array, :

1 0
0 1

K12
0

0 1
1 0

K11
0

K12
K 22

K11
K
21

0
K 22

K11
0

0
K 22

0
K
21

1 0
0 1

1 0
0 1

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Multiloop and Multivariable Control

For 2 x 2 systems:
y1 = K11u1 + K12u2

11 =

y2 = K 21u1 + K 22u2

1
,
K12 K 21

12 = 1 11 = 21

K11K 22

Example 1:
K11
K =
K 21

K12 2 1.5
=
K 22 1.5 2

2.29 1.29
=

.
.
1
29
2
29

Recommended pairing is Y1 and U1,

Y2 and U2.

Example 2:
2 1.5
K =

1
.
5
2

0.64 0.36
=

0
.
36
0
.
64

Recommended pairing is Y1 with U1 and Y2 with U2.

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Multiloop and Multivariable Control

EXAMPLE: Blending System

Controlled variables: w and x
Manipulated variables: wA and wB

Steady-state gain matrix:

Steady-state model:
w = wA + wB
xw = wA

x=

The RGA is:

wA
wA + wB
wA

1
K = 1 x

1
x
w

wB

1 x
=
x 1 x
x
w 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)

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Multiloop and Multivariable Control

RGA for Higher-Order Systems

For a n x n system,

u1 u2
y1 11 12
y2 21 22
=

yn n1 n1

un

1n
2 n

(18 25)

nn

Each ij can be calculated from the relation,

ij = 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 = K

In matrix form,

= K H

-1 T

: Schur product

(element by element multiplication)

Note :

KH
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Multiloop and Multivariable Control

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

y3 0.135 3.314 0.270 1.910

y4 0.215 2.030 0.900 1.919

Recommended controller pairing?

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Multiloop and Multivariable Control

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
2
1.5e
s
e
s + 1 10s + 1

11 = 0.64
Recommended controller pairing?

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Multiloop and Multivariable Control

Singular Value Analysis

Any real m x n matrix can be factored as,
T
K=WV
Matrix is a diagonal matrix of singular values:
= diag (1, 2, , r)
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 , W, and V using MATLAB command, svd.
Condition number (CN) is defined to be the ratio of the largest
to the smallest singular value,

CN

1
r

A large value of CN indicates that K is ill-conditioned.

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Multiloop and Multivariable Control

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 =

10 1

= I

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

(K ) =
0

0
0.1

CN = 101

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.
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Multiloop and Multivariable Control

Selection of Inputs and Outputs

Arrange the singular values in order of largest to smallest

and look for any i/i-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
K = 0 .5 2
0 .9 0

0 .9 0
0 .9 5
0 .9 5

0 .0 0 6
0 .0 0 8
0 .0 2 0

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Multiloop and
Multivariable
Chapter
18 Control

0.5714 0.3766 0.7292

W = 0.6035 0.4093 0.6843
0.5561 0.8311 0.0066

0
0
1.618
= 0
1.143
0

0
0
0.0097

0.0151
0.0541 0.9984
V = 0.9985 0.0540 0.0068
0.0060 0.0154 0.9999

CN = 166.5 (1/3)
The RGA is:

2.4376 3.0241 0.4135

= 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 (3x32x2).
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Multiloop and Multivariable Control

Multiloop and Multivariable Control

Matrix Notation for Multiloop Control Systems

Gp

Multi-loop

Single loop
CLTF

Y=

G p Gc
1 + G p Gc

Ysp

Y = + G pGc

-1

G pGc Ysp

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 + G pGc = 0
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Multiloop and Multivariable Control

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

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Multiloop and Multivariable Control

Biggest log-modulus tuning (BLT) method

(Luyben, 1986)
Log-modulus : a robustness measure of control systems
Single loop
Lc = 20log

G p Gc

= 20log

1 + G p Gc

G
1+ G

G
Lc max = max Lc = max 20log

1+ G

A specification of Lc max = 2 dB has been suggested.

Multi-loop
Define W = 1 + det + G pGc

W
Lc = 20log
1+W
max
= max Lc = 2n
Luyben suggest that Lc

where n is the dimension of the multivariable system.

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Multiloop and Multivariable Control

Tuning Procedure of BLT method

1. Calculate Z-N PI controller settings for each control loop

K c,ZN = 0.45 K cu , 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 =
, Ii = F Ii ,ZN ; i = 1, 2,, n
F
4. Compute W = 1 + det + G G
for 0 <

p c

(detuning)

for example, 2x2 system

det + 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

1+W

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

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Multiloop and Multivariable Control

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.
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Multiloop and Multivariable Control

Alternative Strategies for Dealing with

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)

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Multiloop and Multivariable Control

A Decoupling Control System

decoupler
38

38

Multiloop and Multivariable Control

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

or

12

p12

22

G p11T12U 22 + G p12U 22 = 0

Because U22 0 in general, then

T12 =

G p12
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

T21 =

G p 21
G p 22

Compare with the design equations for feedforward control based

on block diagram analysis
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Multiloop and Multivariable Control

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:

T12 =

K p12

T21 =

K p 21

K p11
K p 22

3. Nonlinear Decoupling
Appropriate for nonlinear processes.
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Multiloop and Multivariable Control

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

Multiloop and Multivariable Control

Wood-Berry Distillation Column Model

12.8e s

16.7 s + 1
y1 ( s )
y ( s) =
2
7 s
6.6e
10.9s + 1

18.9e3s

21s + 1

3s
19.4e
14.4 s + 1

u1 ( s )
u ( s )
2

(18 12)

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

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Multiloop and Multivariable Control