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~:eywords .
~:eywords. control , robustness,
Process control, robustness , time lag systems,
svstems, samn1ed
samn1.ed data
nonlin e ar control systems.
systems, nonlinear
INTRODUCTIOn
INTRODUCTIon
11any
l1any of the th e modern controller
controll e r design d es i gn techni-
t echni - exnlicitly
take the constraints into account exnlicitlv
"ues have not
0ues n ot found
fou nd their way into the nro- ke en the nlant safely within the
in order to keen
desnite ~roven
industri es desryite
cess industries n roven success in bounds .
nrescribed bounds.
aerosoace
aerospace applications. reas ons are the
The reasons
different underlying sys tems on one hand and
systems The dissatisfaction with the abilit y o~
th e abilitv OF the
th e
different rerfor~ance
the dif:erent r e~ uir eme nts on the
perfo rman ce requirements available control system design methods to
other. Snace
Sryace st ructur es are notorious for
structures deal effectively with these th ese issues and the
th ei r lar
their ge number of modes most of which are
large incre as e d power
increased powe r of readily availabl e co~nu
readil y available ter
co~nuter
on l y slightly
only s li ghtly damped.
damped . On the contrary, co ntrary , most hav e led a number
hardware have ~rouos
numb e r of research ~rouus
sys t ems found in the ~rocess
systems n ro cess industries
indu s tri es are in industry
industr y and academia to search for new
slugg ish, overdamoed
slu?gish, overdamped and their dynamic alternativ es . The prominent
alternatives. prominen t ones have become
characteristics can ca n generally
ge n e rally be he approximated
aporoximated known as Model Algorithmic Control (Richalet,(F.ichale t,
well by a first or o r second order lag combined 1978), Dynamic Hatrix
Ilatrix Control
Contr o l (Cutler,
(Cutler ,
wit h a dead time. A second
with seco nd im~ortant
imnortant dis dis-- Ramak e r, 1980), Inferential Control (Brosilow,
Ramaker,
tin gu i shi n g feature
tinguishing featu r e is that nany many chemical 1979) and Internal Model Control (Garcia,
pprocesses
r ocesses are stronglys tr on g l y nonlinear
n onlin ea r and can ca n only Horari, 1982). Though this was clearly not
110rari,
be poorly
poo rl y modeled,
mode l ed , while the mathematical
ma themati ca l des- des - recognized by b y most of the develooers the
c ri ntio n s of sattelite
crintions satte lit e motions
mo tions are usually usual I v ~rinciple
principle features which give these th e se methods
quite accurate.. ~he
qu it e accurate The requirements
reauirements on o n the th e ir power, are identical and will he
their eluci -
be eluci-
closed loop l oop transient res~onse r esno n se of a chemical dated next.
next . The key issue is the caoabilitv
processing system s ys tem are generally
ge n e rally ouite
nuite lose;los e ; technioues to
of the new techniaues t o combine the advan-
advan-
the s t eady state ~erformance
th e steady pe r fo r mance is of maior tages of open-looo (feed forward) and feed- feed -
importance
impo rtance (no offset). offset) . On the othe otherr hand,
hand , back control and to eliminate
elimina t e their
th e ir disadvan-
in s9ace
space applications
aoplications the t he prohlen
p robl em is most tages.
often
of t en 0: of the servotype and there is no n o steady
stead y
state to worry worrv about.
abou t. Another
An othe r imnortant
imoortant The advantage
advanta ge of the onen loon
l oon scheme (Fig.
requirement is that for fo r controllers td to be lA) is that the stability
s tability question
ques ti on is trivial
acce~ted by the orocess
accented o r ocess industries they th ey have (the system is stable when both the th e control-
con tr ol-
t o be easily
to easi l y adjustable on-lin on-linee by oneratin~
oneratin~ ler and the system are stable)
s tabl e) and that the
personnel
pe r sonne l without university level l eve l trainin~.
trainin ~ . (gC=g- I) . The
contro ller is easy to design (gc=g-l).
controller
f ina l imnortant issue is that the o~erating
A final operatin g disadvantages are the sensitivity of the
region
r egion of a chemicalchemica l nlantn l an t is usuallY hi ~h l v
usuall v hiqhlv performance
pe rformance to modelling
mode lling errors and the
constrained and a controller cont r o ll e r must be able to to inabilitv
inability to cone
cooe with unmeasured disturbances.
2 M.. Horari
10rari
Factorization
Factor ization of gg Frank (1974) provides aa table of optimal
ad;ustable parameter which
filters with one adlustable
I n the
In the absence of modelling
mo dellin g error (g=g) and has aa direct effect on the speed but not the
has the
with
with gc g=l
g=1 the
the control error ee is shape of the closed loop
shape loop response.
response . The main
main
obiective of the
obiective the filter
filter however
hOlvever is to
to
(7)
(7) reasonably good
guarantee reasonably good and
and at least stable
stable
presence of
behavior in the presence of plant/model
plant/model
g+
g+ can be
be selected
selected to
to minimize
minimize some function
function mismatch .
mismatch.
4 M. Morari
!£(iw) ~£
!£ (iw) !I ~ :[ (w) (16) Predic t o r
IHC and the Smith Predictor
g- l (0) ~
~:: In the presence of model uncertain-
(21)
ty the filter time contants have tot o be
increased to satisfy the conditi on ot Thm.
condition Ihm.
and because of g+(O) 1, f(O) == 1. IItt then
3.
follows from Thm. 3 that integral control is
impossible if the steady state gain error
The simplicitv
simplicity of the design procedure should
can exceed 100% 0: (0» 1). This is expressed
100% (£(0»1).
more precisely in Thm. 4. be apparent. In the absence of modelling
Internal Model Control - Theory and Applications 5
errors there is only ~one adjustable parameter, be pointed out at this point
ooint that zeros of
response~termined
the speed of response determined by the transfer matrices can be defined in a number
fil ter, which can be selected by the designer
filter, of ways (1acFarlane,
(HacFarlane, 1974) but that in
at will. If modelling errors are present general they
the y bear no connection to the zeros
t o be addressed
the problem of robustness has to of the individual transfer matrix elements.
elements .
by adjusting the filter.
filter . For stable systems the RHP zeros can be
determined from the determinant of the trans-
trans -
The tuning is so transparent because the fer matrix.
matrix . The factorization of time
designer selects the closed loop transfer delays is complicated by the fact that in
function g+ f directly (see (13)).
(13)) . A "fast" general the time delays in the different
filter pushes the system hard and increases matrix elements are different.
the possibility of an instability if the
model is inaccurate. If not much is demanded
(conse rvative filter) it
from the system (conservative Factorization of G
will be stable even when the modelling errors
are severe.
severe . The same could be accomplished
accomolished In princi~le
princiole G+ could be determined again by
with the classic feedback structure (Fig. lB) minimizing a scalar function of the error
IHC uses the inverse of g_ exnlicitely
but THe exnlicitE'ly
approximatin g it inGirectl~T
instead of approximating in~irectl~ bv -e
-e== y - ys (25)
Als~ i~
selecting a high controller gain . Also ir. the
classic structure a series of parameters in e . g . the ISE.
e.g. ~rocedure has
ISE . Though such a nrocedure
c would have to be adjusted simultaneously been develoned
develooed (Frank, 1974) it is not recom-
recom-
to have the effect of the single IMC filter mended in oractice because it is extremely
parameter .
parameter. cumbersome and also requires a relative
weighting of the different outout errors
Several questions of theoretical
the ore tical and practi-
practi- arbitrary . The
which is usually quite arbitrary.
cal interest are currently the focus of our simole results have emerged from
following simule
research efforts: the investigations by Holt and ~10rari (1983 ,
Jorari (1983,
1984) . Note that without modelling errors,
1984). errors ,
1) The uncertainty description (17) destroys and for
phase information and can therefore lead to
very conservative control systems. G
G = G- 11 F
= G- (26)
c -
1.
HIMO SYSTEMS
11Hm o
0
1 ••• 1 (-s+z j) ••• (- s+z . ) ]
properties , relation-
The basic structure, properties, relation - = [
x···xC-S+Z1)···C-s+Zj)
X ''' x ~ X ''' x (28)
ships and design philosophy carry over to the (s+zl)
(s+z 1) "
• • '• (s+zi) 1.
multivariable case and will not be elaborated
on in detail. Transfer functions
funct ions are replac- o '1
ed by transfer matrices
mat ri ces which will be denoted
by canital letters.
letters . Again all systems
s y stems will where all the off-diagonal
off - diagonal elements are zero
be assumed to be strictly open-loop
open- loop stable RFP
exceot in the row which contains the RE~
and to have the same number of inputs and zeros.
zeros .
outputs.
ou tputs. Then for the IMC structure multi-
mul ti-
variable equivalent of Fig. lE we find For example,
example , consider the system
y G(I+Gc(G-G))-lG
G(I+ Gc (G-G )) - IG c ((yss-d)
-d) + d (23)
c
u = (I+Gc(G-~)) - IG c(Ys - d)
= (I+Gc(G-G))-lGc(ys-d) (24) G(s)
1
8+1
s+l
[ 1
1+2s :J
Properties Pl- P3 carr~
Proper ti es Pl-P3 carry over simply by substi-
suhsti- which has a zero at s =
= 1/2.
1 /2 . Three possible
oossible
tuting matrices for scalars.
scalars . The factoriza-
factoriza - factorizations are shown below together with
tion of G into an invertible and a noninver-
noninver - the ISE resulting from a unit steo
step change
tible part and the design of the robustness in both set points
poi nts
filter need special attention.
attention . It should
6 M. Horari
[_25+1
-2~+1l
is given to the second output. Holt & Morari
1
G+(S)
G!(s)
l2"+l -2:+r}
2s+l
22 1
G - 8s
+
[ 1 _2:+1]
[
_2:+1] ;
;
(1983) have shown that a diagonal G+ which
renders G- 1l causal is "optimal" if and only
0
2s+l 2s+l 2s+l ro~s and columns of G can be rearrang-
if the ro;s
delav of each
ed such that the smallest time delay
TSE
ISE = 8 ISE
lSE 4 exampl~, the
row is on the diagonal. For examnl~,
Wood & Berry (1973) distillation column has
G33
+
[[~'+l
~5+1
2s+l
2s+1
0 1
]
252S25'"l+1
+l ]
the transfer matrix
G(s) =
.
12.8 e
[ l6.7s+l
-s -s
--18.9
--18.9 e-
2ls+1
2ls+l
-3s
e 3S ]
(29)
-3s
lSE
ISE 1
6.6 ee--7s
7s -19.4 ee- 3s
10.9s+l l4.4s+l
The optimal G+ can be found using the men-
tioned matrix factorization procedure Here the smallest time delays are on the
(Frank, 1974): diagonal and therefore G+ =~
=- diag(e- SS , e- 3s )
"oTJtimal"
is "oDtimal" upfler bounds on
The lower and upper
the settling time coincide.
1
5(1+2s)
[
5-6S
[ 8s
8s
5+6s
J ;. ISE
"
!!.
= !!..
55 Contrarv to the results obtained for systems
Contrary
involving RHP zeros, the effects of time
delays are structured, i.e. they
th e y are general~
g eneral~
G
=[[0
= 0
-2s
2S
-2S]
ee- ]
As shown in Fig. 4 the multivariable multi-
plicative uncertainties can act either on
the imputs (L I ) or the outputs (L
(LO)
O)
-e 1
are G(s) c:
~(s)(I+LI(s))
(s) (I+L r (s» (30A)
~2'] e~2" ]
[ -2, G(s) (I+L (s))(;(s)
(I+LO(s»C:(s) (30B)
Gl -f:4" G2
O
+ e + (1:e- 2S ) 1I~-1
II C:- 1 (G-(;)
(G-C:) 1111 < 9"I(W)
£r( W) (3IA)
(3lA)
e-2, :'-0-2,) ]
G_1
(I;-G ),1;-1 (3IB)
(3lB)
[ e-4, 1I11 (C;-G) 11 < £O(w)
9, O(W)
G3 =
+ 0 where £1'
9, r' £0 are scalar functions defined on
the positive reals. These functions do not
allow to distinguish between uncertainty
uncertaint v
G indicates that output 1 can react only
localized in one element and uncertainty
uncertaint y
after two time invervals, output 2 can ~eact
react
"soread"
"spread" over all elements. This might-
might or
immediately. These figures area~e a lower
depending on
might not be disadvantageous denending
bound on the response time but they are not
how much uncertainty information is available.
an indication of the actual settling time.
Also let us define
If both outputs are equally important and
decoupling is chosen, G+ 11 provides an upper
(32)
bound on the settling time. This is veri-
fied by G+ 22 , where preference is given to
the first output which settles in minimum
time (cf. G), at the cost of decoupling and What norms whould be used will denend
deTJend on
a maximum settling time for the second out- the application. Here we will use the
put (cf. G+ 1l ). Analogously, in G+jpreference spectral norm
Internal Model Control - Theory and Applications 7
1
II GII
IIGII max ;\A.~
Y, (G*G) (33) Theorem 7 (Mo rari,1 983a) : There exists no
(Morari,1983a):
ii i
1
stabilizing filter with F(O) = I for the MIMO
cclosed
losed loop system in Fig. lE with
wi th the con-
con -
which is compatible with the Euclidean vector det(G(O)~(O)-l) ~ O.
tr o ller (26) if det(G(O)C(O)-I)
troller
norm. We will employ the following notation
no tation
for the singular values , 1983a) : There exists a
Theorem 8 (Morari, 1983a):
stabilizing filter with F(O) == II for the
k~ MIMO closed
MIMG c l osed loop system in Fig.
Fig . lE with the
A 22
;\ (G*G)
max controller (26) if all the eigenvalues of the
G(O)~(O)-l
matrix product G(O)C(O) - l are in the RHP.
RHP .
~:
~: In the presence of model uncertainty where A.(A) denotes the jth eigenvalue of A.
a low pass filter has to be introduced, for J
example of the form Because of the discrete nature a first order
k ii filter is sufficient for stability as long as
F = diag(l/(Tis+l) ) (38) (40) is satisfied. Depending
Deoending on the tvpe
type of
uncertaint y a higher order filter can be
uncertainty
By choosing the filter time constants and the required for continuous systems. Also, the
filter order sufficiently large, Thm. 6 condition (40) is necessary
necessar y and sufficient
guarantees that the system can be stabilized for the existence of a range ran ge of aui's
i's
without sacrificing integral control action (a * ~ a i < 1) for which the system is closed
(a* c losed
as long as the condition of Thm. 8 is satis- i
loop stable. Note, however, that some
fied. specific set of ai'sa i's (instead of the open
interval extending to 1) might exist which
The tuning procedure is inherently simple and stabilizes the closed loop system even when
transparent. If the filter (38) is used then (40) is not satisfied. In this case the
for each output there is a single tuning system will become unstable when the ai's a. 's
parameter Ti which affects directly the speed are increased. This conditional stabilitystabilitv
of response of the particular output. If a makes the on-line tunintuningg much more difficult
fast response is demanded, a good model is hi ghl y undesirable.
and is highly
required.
The role of the filter for the robustness of
The technique bears some resemblance to the SISO control systems is illustrated by
bv Reid
method of "decoupling" prominent in process and coworkers (1979) in a spec ific case
specific
control applications. The analysis here has study, but the general theoretical explana-
shed light onto the old question when com- tion offered by Thm. 9 is not provided.
plete decoupling might be detrimental to
performance. This is the case when time The THC
IHC structure starts to display
displa y its full
delays or RHP zeros are present in the trans- power when instead of simply translating
translatin g
insight has
fer matrix. Furthermore some ins.ight from continuous to discrete time, specific
been gained into the question of robustness
robustness. e use is made of the discrete formulation in
the computation of the control law. The
In terms of open research questions the same controller (26) is composed of the inverse of
types of problems as listed for 5150
51S0 systems the invertible part of the model and the
await solution. Some help should be avail- filter. This combination can be interpreted
able from the works of Zames (1981) and as an approximate inverse of the model con-
Doyle (1982). structed to be stable and to avoid excessive
actions of the manipulated variable or at
\Ve can find approxi-
least to be realizable. He
TIME SYSTEHS
DISCRETE TINE mate inverses in an alternate manner which
offers increased flexibility.
flexibilit y .
Most modern control systems ace
a£e micropro-
cessor or minicomputer based and unless the The process model can be employed to predict
oredict
sampling rate is very fast a discrete time the outputs resulting from a series of in-
domain analysis and synthesis is more appro- puts. Or alternatively, desired outputs can
priate. All the results derived for SISO
5150 and co uld be ca
be prescribed and the inputs could lcu-
calcu-
MlMO
MIMO continuous systems in the preceding lated such that the predicted ooutputs
utouts follow
sections can be easily rederived
reder1ved for discrete the presctibed outputs in some "optimal"
" oo timal"
time systems. In most cases equivalent manner. If one requires the predicted values
properties and theorems are found -- now to agree with the prescribed ones exactly
exactl y
formulated in terms of z-transforms instead the system inputs resultin
resultingg from the solution
of Laplace Transforms. However, it turns of this matching problem will be the same as
out that Thm. 8 can be considerahly
considerably strength- would be obtained by an inversion of the
ened for sampled data systems. process model. If one requires the predicted
values only to be close to the desired ones
Theorem 9 (Garcia & Horari, 1984): Assume
& 110rari. Asswne in the least square sense, for example, the
that the robustness filter F(z) is diagonal solution of the optimization problem will
and of the exponential type provide an approximate inverse of the process
model. The characteristics of the approxi-
F(y)
F (y ) (39) mate inverse can then be affected by the
choice of weighting matrices in the least
squares objective function. This method of
C:
and that Gc = ~:l1 F. There exists an a* a* computing the control law is referred to in
(O~a*< 1) such that the system
(O';;;a*< svstem is closed the literature as "model-predictive
"model-predic ti ve control
loop stable for all ai a i in the open interval law formulation".
Ci*~ a
cx*';;; a.1. < 1 iif only iiff G and ~ satisfy
f and onlv ~
l.
We can pose the following problem to be
(40) K subject to
solved at time k t o the model equa-
tions relating u and y
Internal Hodel
Model Control - Theory and Applications 9
Control Law
Law Computation and Implementation
Summary
(41) describes a standard linear quadratic
open - loop op
open-loop timal control problem and could
optimal All desirable properties of continuous time
be solved in the state space employing any Il1C are
ll1C a re preserved oorr strengthened in discrete
of the standard methods.methods . It turns out to t o be IMC . The major advanta
time IMC. ge of discrete
advantage
simpler to use a truncated
trun ca ted impulse response
resp onse IHC is that constraints
time IMC con s traints on the inputs,
inputs ,
o r discrete convolution
or convolut i on model.
model . Then the ou tputs and states can be included explicitly
outputs
resultin g linear
resulting linea r least squares problem can be co ntrol law.
in the control law . Thanks to t o the impulse
ic:ally with simple matrix opera-
solved analyt ically opera - response model description, the on - line
on-line
y ieldin g a control
tions yielding contr ol law with constant computational effort even for fo r systems
s ys tems with
coefficients. This is basically what is fo ur inputs and four ooutputs
four utputs is easily with- with-
done in Dynamic Matrix Ma trix Control (DiC)
(DlIC) deve-
deve- in the capability of current process control
(C ulter & Ramaker, 1980).
loped by Shell (Culter 1980) . In systems .
computer systems.
DMC no ffilter
ilter is used and all the tuning tunin g is
done viav ia the parameters
pa r ame ters in (41). We believe
that the filter should be present in all NONLINEAR
ONLI EAR SYSTEMS
implementations because the filter parameters
have a much more direct effect on the closed c l osed All physical ssystems
ys tems are nonlinear and some-
some-
lloop
oop response
resp onse than the parameters in (41). (41) . times the linear models employed for control
The function of the ffilter ilter parameters is more system design are only very poor approxima-
approxima-
easily understood by the operating personnel tions of the real behavior.
behavior . While we can
and they
the y are therefore ideal for oon-line n- line deal with mild nonlinearities just by detun-
detun-
tunin g . Shaping the response
tuning. resp onse via the para-
para- ing linear controllers,
controllers , it is likely that
meters in (41) requires a higher skill leve levell in the presence of stron g nnonlinearities,
strong onlinearities,
IAA-B
10 H. Horari
Norari
nonl~near controllers
nonlinear offer distinct multiple steady states in open-loop. Under
advantages. The design of these assumptions and if a good model of the
open-loop nonlinear controllers is a well Proper tv 2 prescribes
plant is available, Property
established field. Csing
Using variational methods exactly the structure and parameters of the
conce i vable problem has been
virtually every conceivable controller
con tr oller which will bring about "perfect
t ackled. On the other hand a general theory
tackled. control", i.e. exact set point following
for the design of nonlinear feed-back con- despite unmeasured disturbances. Moreover
trollers does not exist at present for all Property I1 guarantees the stability of the
practical purposes. One of the very few closed loop nonlinear control system. The
exceptions is the work by Frank (1974) who trick is, that as far as the design is
was probably the first one to use extensive- concerned, IHC transforms the problem into
ly the advantageous features of I~C for the a feedforward control problem, which can be
design of linear and nonlinear control solved easily even for nonlinear systems.
systems. But on the other hand IMC preserves all the
important characteristics of feedback con-
Most of the available nonlinear feedback trol, in particular the suppression of
control literature concentrates on stability unmeasured disturbances. This is evident
analysis. The recent results of Safonov from Properties 2 and 3.
(1980)
(1930) should be mentioned here, who extended
the pioneering work of Zames (1966). He In terms of stability
s ta bility and robustness, theorems
again put the work of Popov (1962) in a Ihm. 6 can be proven for nonlinear
similar to Thm.
general context. The practical applications IMC now involving appropriately defined
TMC
of all these results are mostly limited to gains of nonlinear operators (Morari, 1983b).
feedback systems consisting of a linear Except in the case of linear dynamic opera-
dynamic part and a nonlinear memory less ele-
memoryless tors with nonlinear static elements there
ment whose characteristics can be bounded ga ins
is no simple way of evaluating these gains
by a conic sector. numerically. Therefore these theorems are
only useful in a qualitative sense for the
Morari (1983b) made a first step toward a
Horari design of the robustness filter.
practical approach for the design of non-
linear feedback controllers. He adopted the A further question involves the existence,
A
general operator formalism introduced by con-
uniqueness, stability and numerical con-
Zames (1966) to
t o state the nonlinear IMC struction of the inverse of the nonlinear
structure and to derive its properties. operator used in properties P2 and P3.
Conditions for the existence and uniqueness
The nonlinear li1C
DIC has the same block diagram of the left inverse are given by Hirschorn
as shown in Fig. lE but now g,g and gc are (1979) and Rebhuhn (1980). AA possible
nonlinear operators representing the plant, iterative numerical procedure for the con-
model and controller respectively. The struction of the inverse has been suggested
following relationships can be deduced by Morari (1983b).
directly from the diagram
-e y + y ( 42)
(42) Summary
achieve in practice regardless of what con- model uncertainties (and only under these
tr oller design method is used.
troller circumstances!) closed loop performance might
circumstances:)
have to be sacrificed by subjecting it to a
decoupling constraint. Though in particular
tlixing Tank
Hixing the role of zeros has been mentioned previous-
l y (Rosenbrock, 1974; Bristol, 1980) a com-
ly
mixin g tank experi-
The following educational mlxlng prehensive view has not been offered before
f irst at the Unviersity
ment was designed first Unviersit y of
of and is also not reflected in any of the
Wisconsin (Morari anda nd Ray, 1982
1982)) and has available interaction measures.
since been duplicated in about half a dozen
schools in the U.S. The flow rates of hot 2) Hultivariable Deadtime Compensator: Using
and co ld water entering a mixing tank are
cold standard tuning techniques the time delays
manipulated in order to control
co ntrol the tempera- omnipresent in chemical engineering systems
ture and level
leve l in the tank, which has a fixed can lead to stability problems and sluggish
orifice in the bottom. A long hose has been response. Within the IMC framework we dis-
inserted between the valves and the tank covered in a natural manner a new multivari-
introduc ing a deadtime into the transfer
introducing able deadtime compensator (Holt and coworker~
coworker~
relatin g the tank temperature to
functions relating 1984). For some specific cases our trivial
the manipulated variables. The deadtime
dead time is derivation led to the same result as that
about 35
35%% of the tank time constant • obtained previously using optimal control
theory (Soliman and Ray, 1972), where the
In our experiments the performance of IMC enormous complexity has prohibited both under-
was compared with that of a steady state standing and application. The performance
decoupler with two PI controllers. The inte- throu gh IMC over earlier desi
improvements through gns
designs
gral time was set equal to the system time involvin g different extensions of the SISO
involving 5150
constant, the gain was set "optimally"
" op timally" by Smith Predictor to MIMO systems are unques-
trial and error. In this case the steady tionable.
le ads to an almost perfectly
state decoupler leads
dynamicall y decoupled system (Ray, 1981).
dynamically 3) Robustness: With the exception of the
academic environment where several graduate
Fig. 8 shows the response to a cold water students are sometimes kept busy
bus y developing
disturbance steam turned on after 900 sec a detailed model for an essentially trivial
and turned off after 1500 sec. For the level piece of lab equipment, good dynamic models
IHC is clearly superior, for the
control liIC rarel y exist in practice. The route via
rarely
temperature it is about equivalent to PI. fundamental models, response matching by
The response to a setpoint change in tempera- parameter adjustment, order reduction, etc.
ture (Fig. 9) again shows the superiority of often does not result in a more accurate
IMC. The level control
con trol is essentially per- system description than that ggiven
iven by an
fect with both IMC and PI. Most of what is operator sketch of a typical step response.
seen in Fig. 9 is measurement noise. IMe viewpoint allowed to develop new
The !MC
theoretica
theoreticall insight for the identification
of systems whose performance is inherently
CONCLUSIONS sensitive to modelling errors. IMC provides
a unique control structure within which
c lassic control theory
Most classic theor y is centered robustness can be adjusted easily on-line by
around the question of closed-loop stability. the operator. As a key result theorems were
The discovery of simple graphical and numeri- derived which quantity the maximum model/
ca l techniques
cal te c hniques like the Nyquist criterion plant mismatch tolerable by any control
and the Routh array were major accomplish- system involving integral action. If the
ments which allow stability assessment in an model error violates the stated criterion
c riterion the
manne r. For both linear and non-
efficient manner. control loops must be opened to maintain
linear open-loop stable systems (i.e. the stabilit y.
stability.
vast majority) the IHC IMC structure disposes of
the closed-loop stability issue altogether Let us emphasize again that for linear
and thus gives the designer the opportunity systems IMC is just a different way of look-
to address the central issues of control in
ingg at feedback control, that all theoreti-
s ystem performance and robustness directly.
system cal results could have been derived using
This uncluttered
unc luttered viewpoint
viewpo int has allowed to different methods and that the th e same perfor-
resolve a number of important issues which qualit y co
mance quality uld have been obtained
could ob tained
reapp earing in the control litera-
have kept reappearing desi gn techniques. The fact
employing other design
ture for yea rs.
f or year s. that the theoretical results were not no t found
previously and that the performance obtainedob tained
a re:
Among the most important are: previously for typical test examples does
no
nott match up to the standards set by DIC
1) Decoupling: It seems desirable not to is regarded tha t I~IC is able to
re garded as a proof that
introduce disturbances in all the variables impo rtant issues with unparalled
reveal the important
when changing
cha nging one of the setpoints. We\-Ie have simplicity.
shown, however, that in the presence of
fo r structured
nonminimum phase elements and for
Internal Model Control - Theory and Applications 13
In addition,
addition , the IMC
DIC structure which is also Grossmann I. I . E. and M. Morari (1983) (1983)..
inherent in Model Algorithmic Control and "Operability, resiliency and flexibility
Dynamic Matrix Control allows for the first -- Process Design Objectives for a
time to deal with constraints on the manipu-
manipu- world" . Proc.
changing world". Proc . Sec.
Sec . Int. ConL
Conf.
lated variables,
variables , states and outputs explicit-
explicit - on Foundations of Computer- Aided Process
Computer-Aided
law . Finally IMC's
ly in the control law. IMC ' s poten-
poten- Design, Snowmass,, CO
Design , Snowrnass CO..
tial for the design of controllers for Hirschorn , R. M. (1979).
Hirschorn, (1979) . "Invertibility of
nonlinear systems is very promising
promising.. Multivariabl e Nonlinear
onlinear Control Systems".
Trans.. Autom.
IEEE Trans Autom . Contr.,
Contr. , AC-24,
AC- 24 , 855.
855 .
Acknowledgement: Financial support from the Holt , B. R. and M. Morari (1983)~esign
Holt, (1983)~esign
National
ational Science Foundation (CPE- 8115022)
(CPE-8ll5022) of Resilient Processing Plants V. The
and the Department of Energy (DOE Contract effect of dead time on dynamic resilience. resilience .
DE-AC02-80ERl0645)
DE- AC02 - 80ERl0645) is gratefully acknowledged.
acknowledged . Chem
Chem.. Eng. Sci.,
Sci . , in press.
press .
Holt,
Holt , B. R. and M. Morari (1984). (1984) . "Design
of Resilient Processing Plants. Plants . The
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Crack-
submitted. ing Unit".
Unit" . AIChE 86th National ational Meeting,
Meeting ,
14
14 M. Horari
Ys
--1 gc
u
A
g yY
y't c
H
B
g pl+
I
+ +
vs +
y
-
f-~_- y H"g-~- y
-....,d -
d
c o
+ e
y
Fig . 1.
Fig. 1. Evolu tion of the TIMe-Structure
Evolution IMC- Structure
)6
16 ~1. 110rari
I!. Horari
lmr-------~--------_.--------,_------__,
Im , - - - - - - . . . - - - - - - , . . . - - - - - - , - - - - - -........
g{iw)
1__ --,\-y
l~y
f-------t1L-.-_G_(s_)
(_s_) G
Re
u-:__
u - ! ,_ _G_<s_)_
G_(S_)_ _ H I+L(j(s)
I+Lo(s) rt-- yy
Fig. 2. Uncertainty band around model Fig. 4. Multiplicative input and output
g(iw) within which the real uncertainties for a multivariable
plant g(iw) lies. system.
(r = £,Q, (w) Igg(iw)
(r= I).•
( iw) I)
'7. , - - - - - - - - - . . . . . . . - - - - . . - - - - - . - - - -
" .• - t - - - . - - - i - - w - - t - - . . . . . - - i - - w - - I - - _ - - I
• 2a ..a ,a 18 188
1.5
+ 0• I., J ..
," .. ,
0
e ./ \
!~" ........ -- . _..
~ '-
.
~
A
I.'
• 2. ... , la 11.
2.2
I
E
f ~
.-"-""-
£-
,F
-.- -
_." -- ..
+ + f----,.--y
y l
2.1
Ys u
X
I .•
28 "I 'I .1.
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•. 11 -.--.----,r----,-----,---,----,
•l,.7'
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: 1.7'
..-:::,
A
B
"
1.7.
ZI 4t
lINUT£1
•• NUT£I
" .. .11
9£i.6-----_---~---~---r_--....,
" .6
o0 ,"\
H
: \
C96 . 4 -+--~~~---+---+----t_--___1
C9£i.
U~ ~ - ~--.:---
o0
"
p
P
.. - ll-----.,r---.,.-----r---r---..,...----,
11
96. 2 -J------+--__--J--.,.--+---r--t---..,r----1
96 . Z
48 68 8B
88 lee
11
28
"
8B
o0
I.~
1.8
,-,
,,-.,
N
:z
.
N5-l---~~-~~~--+---t----t---..,
5
';2:."
o0
~
/'- ~,-
H
C "\. ~
f- aI-J\~J!.l~4~L++I4~f_\:i~_d~ffi~~n~~f'1~
<
,2 8.S
0
I.~ . ...•..
.........__
- .......... H
"" · 1 .8
8.8
0
Q
~
•
8 28
Z8 41
4' 61 8e
88 188
118 Ej
H
4l
:>
~
4l
~
-5
-S
\f
'i
H
~
Fig . 6.
Fig. 6. col umn, rejection
Wood/Berry column, rejec t ion to -u -l-----+-y-~-,-h..,._T""T+r_T-r-r+...,r_r-r1h'".,...,n-1
-11
lb/min; wi t h a = 0,
l b/min ; --- IMC with 0,
compensa t or +
Ogunnaike/Ray compensator
PI.
u
o
... 4-4------1~--_+_--_+_---f_--_+_--_f
Z
,
o
H
E-. h
~
H
:>
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~
-2-.-A A
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:\
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·V··
~ ".
~
~ -2-+---1---..w.:-1=---+---+----t---~
~
r
T
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U
T
22
~
~
J
-4 4-----1~--~--_+_---+_--_t_--_t
ffi
E-! -, -+..,.....,~---lI-r..,.....,r-T"_+_.....,..-r-r+_r_r-T'_r_+_r_r_r-T_+_T""T..,...T""1
-1
s[COHDS
SECONDS
5
C
0
U
T
• Fig.
Fig . 8.
8. Level and temperature response
cold- water disturbance
to a cold-water
stream . (PI = dashed line,
stream. line ,
-5 IMC = solid line).
line) .
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