Model Predictive Control Based on Fuzzy Linearization

Technique For HVAC Systems Temperature Control

Jia Lei Lv Hongli

School of control science and engineering,
Shandong University,
Ji’nan, China, 250061,
China
Email: honglitao@sohu.com

Wenjian Cai
School of Electrical and Electronic Engineering,
Nanyang Technological University,
Nanyang Avenue, Singapore, 619798.
Email: ewjcai@ntu.edu.sg

system performance [1-3]. Among those works, classical

Abstract
The Heating, Ventilating, and Air-Conditioning systems
(HVAC systems) are typical nonlinear time-variable
multivariate systems with disturbances and
uncertainties. A new Mamdani fuzzy model predictive
control strategy based on sum-min inference was
proposed to control HVAC systems in this paper. The
resolution relationship of two inputs and single output
variables of the Mamdani fuzzy controller was obtained
by its structure analysis. Then the fuzzy linearization
predictive model at k+1 sampling time on base of its
resolution equation was designed. And at P ahead
horizon predictive models were got. The predictive
control strategy based fuzzy linearization predictive
model was given and the procedure to implement the
control algorithm was outlined. Finally simulation test
results showed that the proposed fuzzy model predictive
control approach is effective in HVAC systems
temperature control applications. Compared with the
conventional PID control, this fuzzy model predictive
control algorithm has less overshoot and shorter setting
time.
1 Introduction
A Heating, Ventilating, and Air-Conditioning system
(for short HVAC system) consists of indoor air loop,
chilled water loop, refrigerant loop, condenser water
loop, and outdoor air loop. In each loop there are many
dynamical variables which interact with each other. So
the HVAC system is a typical nonlinear time-variable
multivariate system with disturbances and uncertainties.
It is very difficult to find a mathematical model to
accurately describe the process over wide operating
range. The design of controller for HVAC systems is a
big challenge for practical engineers. Recently, some
complex control strategies based on the classical control
concepts have been proposed in attempt to improve the
control techniques, especially proportional-integral-
derivative (PID) controllers were still widely used in
practice due to easier implementation, low cost and
reliable in harsh field conditions. However, the PID
controller was designed based on the specific cold load
while the practical load is variable, furthermore its
simple structure is difficult to overcome the effect of
uncertainties. As a result, it is necessary to seek more
effective strategies to control HVAC systems.
Model predictive control (MPC) is a control
strategy growing up from the practice industry process.
Its prominent characteristic is that MPC absorbs the
optimization technique of modern control theories and
makes use of the predictive models and rolling
optimization. So that it takes on strong robustness [4].
Since Richalet described the model predictive heuristic
control based on the impulse response in 1978 [5], The
model predictive control has made great progress in
theories and applications [6-9].
Intelligent control techniques are applied abroad in
nonlinear systems and practical industries because of no
need of accurate mathematical models. In particular the
fuzzy control has been used in the HVAC systems [10-13].
Ghiaus demonstrated that the nonlinearities of the heat
exchange process can be well described by a rather
simple fuzzy scheme and showed that the fuzzy control
resulted in better performance and eliminated the
retuning process required by the conventional PID
controllers [13].
The common characteristic of fuzzy control and
model predictive control is not need of accurate model
of the controlled process. And both of them are robust
to the uncertainties and disturbances in closed-loop
systems. As a result, the fuzzy model based-on
predictive control has came and developed from fuzzy
control and model predictive. Moreover it has been
more and more popular and practical in application field
[6-9 ， 14]
. He and Cai proposed a multiple fuzzy model-

0-7803-9514-X/06/＄20.00@2006IEEE ICIEA 2006

based temperature predictive control for HVAC systems
[6]
. Sousa and Babusla developed fuzzy predictive
control applied to an air-conditioning system [7]. But the
existing predictive control technology based on fuzzy
model was always based on the Takagi-Sugeno fuzzy
model [14]. Because the Takagi-Sugeno fuzzy model is
composed of a set of local mathematical models, it is
difficult to modeling and identification of complex
nonlinear systems. Then the T-S fuzzy model is not easy
to apply in practice.
In classical Mamdani fuzzy model, the premises
and consequents of fuzzy rules are composed of fuzzy
sets which can be established based on experience and
knowledge of manipulators and experts. Therefore it is
easier to model and identify for Mamdani fuzzy model.
In addition to the advantage of predictive control, in
industry the Mamdani fuzzy model based-on predictive
control is convenient for application. In this paper we
proposes a novel predictive control strategy based on
sum-min Mamdani fuzzy model and apply the novel
fuzzy MPC to the temperature control of air handling
unit in HVAC system.
2 Linearization Fuzzy Predictive Model
u (k )
Process
Fuzzy
T-S model
yr (k )
Predictive
controller
Fig. 1 predictive control based on fuzzy Mamdani model
In this paper, the exact linearization predictive model
can be gained by the real-time structure analysis of
Mamdani fuzzy predictive model. The linear control
strategies can be implemented on base of the
linearization model. The frame of this novel fuzzy
model predictive control for nonlinear systems is
showed in figure 1.
Supposed in a SISO nonlinear system
y (k + 1) = f ( y (k ), u (k )) (1)
where y (k ) ， u (k ) are output and input variable at k
sampling time, f (⋅) is a nonlinear function. According
to the universal approximate [17]. It exists a following
Mamdani fuzzy model F ( y (k ), u (k )) approaching the
nonlinear system (1) infinitely:
Ri, j ：If y (k ) is Ai and u (k ) is B j ，
then y m (k + 1) is U i , j ， i , j = 1,2, L , N
where Ai ， B j ， U i , j ， i , j = 1,2, L , N take on
isosceles fuzzy membership functions in figure 2.
Assumed there are N=2J+1 fuzzy numbers in each
input variable y (k ) and u (k ) of fuzzy controller, they
are denoted by Ai and B j , i , j = 1,2, L , N . Assumed
there are 2 N − 1 = 4 J + 1 ≥ 5 fuzzy numbers in the
output of fuzzy controller y m (k + 1) , they are denoted
by U i , j .
A( y (k ))
A-2 A-1 A0 A1 A2
-1 -0.5 0 0.5 1 y (k )
Fig. 2 Isosceles fuzzy numbers membership functions
Without losing generality, at arbitrary k sampling
time, for input and output variables u (k ) ， y (k ) in
nonlinear system (1), it exists i , j : − J ≤ i, j ≤ J − 1
subject to y (k ) ∈ [iS , (i + 1)S ] , u (k ) ∈ [ jS , ( j + 1) S ] ，
S=1/J. So the fuzzy membership functions of y (k ) in
fuzzy sets Ai, Ai+1 and u (k ) in Bj, Bj+1 are acted. The
member functions of y (k ) and u (k ) in other fuzzy sets
are all zero. As a result, we only obtain four effective
rules. Through sum-min fuzzy inference, center of
gravity defuzzification it can be obtained:
y(k)
 S [ y( k ) − (i + 0.5) S ] + [u (k ) − ( j + 0.5) S ]
(i + j + 1) S + 2 ⋅ S − | y (k ) − (i + 0.5) S |
y m (k + 1) = 
S [ y( k ) − (i + 0.5) S ] + [u (k ) − ( j + 0.5) S ]
(i + j + 1) S + ⋅
 2 S − | u( k ) − ( j + 0.5) S |
(C 1 , C 2 , C 5 , C 6 )
(3)
(C 3 , C 4 , C 7 , C 8 )
If supposed that
 S
 2[ S − | y(k ) − (i + 0.5)S |] (C1 , C 2 , C 5 , C 6 )
K P (k ) = K I (k ) = 
S
 (C 3 , C 4 , C 7 , C 8 )
 2[ S − | u (k ) − ( j + 0.5)S |]
then
y m (k + 1) = (i + j + 1)S + K y y (k ) + K u u (k ) (4)
It is obvious that the parameters i，j，S are all the
constants in the certain sampling time k, so that fuzzy
expression (3) have the following linearization style:
y m (k + 1) = K y y (k ) + K u u (k ) + C (k ) ,
C (k ) = [(i + j + 1) − K y (i + 0.5) S − K u ( j + 0.5)]S (5)
Where C (k ) = y (k + 1) − ( K y y (k ) + Ku u (k )) is the error
between the predictive model and the nonlinear model.
3 Model Predictive Controller Design
The proposed fuzzy model linearization technique can
(2) give an approximate linear time-variant model at given
state vector for controlled process. Based on the
linearization model, the MPC algorithm is going on. In
order to define how well the predicted process tracks the
set-point, the following cost function is used:
 Ny Differentiating the equation for J and using the above
J = ∑ ( y m (k + i ) − y r (k + i )) 2 (6) condition, then the following predictive controller
i =1 optimal solution at the k sampling time is got:
where y r (k + i ) is the output variable set-point u (k ) = [1 0 L 0]U (k ) (11)
and Yr ( k ) = [ y r ( k + 1), y r ( k + 2), L , y r (k + N y )]T , N y is where U (k ) = [Q T Q] −1 Q T [Yr − PX (k ) − RC (k )] .
control horizon. Finally, we adopt feedback regulation to further
At first, if supposed improve the control performance. When at k sampling
u (k ) = u(k + 1) = LL = u (k + N y ) time the controller variable u (k ) operates on the process,
The predictive model is the predictive output variable y m (k + 1) can be got by the
Y (k ) = PX (k ) + QU (k ) + RC (k ) (7) predictive model (2), Because disturbance and
where Y (k ) = [ y m (k + 1), y m (k + 2), L , y (k + N y )]T ， uncertainties in the controlled process, It exists error
i between practice output y (k + 1) and the predictive
P = [ p1 , p 2 , L , p N y ]T ， p i = K y ，
model output at the k+1 sampling time. That is
i −1
e(k + 1) = y (k + 1) − y m (k + 1) (12)
Q = [q1 , q 2 , L , q N y ]T ， q i =（ ∑K
q =1
y
q
+ 1） K u ，
It can be used predictive the future error of the future
i −1 predictive output variable. Then defining
R = [r1 , r2 , L , rN y ]T ， ri = ∑K
q =1
y
q
+1， y m (k ) + he(k + 1) (13)
to modify the future predictive output value, where
X (k ) = [ y (k )] ， U (k ) = [u (k )] ， i = 1,2, L , N y modification coefficient h regulating vector.
(8) The procedure for designing and implementing the
The optimal controller output sequence can be found by proposed fuzzy MPC can be described in four steps:
minimizing the above cost function (6). A necessary ① Construct the sum-min inference Mamdani fuzzy
condition for minimum J is model (2) based on the experience and expert
∂J knowledge;
=0 (9) ② At k sampling time, obtain the on-line linearization
∂u (k )
model (5) of the fuzzy model through the
Differentiating the equation for J we can get the analytical expression of structure analysis;
following optimal solution:
③ Based on the set-point y r (k + i ) and the fuzzy
U (k ) = [Q T Q] −1 Q T [Yr − PX (k ) − RC (k )] (10)
predictive model parameters, calculate the
Secondly, when the control horizon N u ≠ 1 , matrixes P， Q， R , then get the optimal
generally N u < N y , supposed controller u (k ) through the equations (10) or (11);
u (k + N u ) = u (k + N u + 1) = LL = u (k + N y ) , ④ Examine the actual output value y (k + 1) , through
At the same time, the equation (12)calculate the output error，get the
X (k ) = [ y (k ), L , y (k − n + 1), u (k ), L , u (k − m + 1)]T k+1 sampling time predictive output value through
(13)，then return to step ②.
U (k ) = [u(k ), u (k + 1), L , u (k + N u − 1)]T ，
So the N y step predictive outputs change to the 4 Simulation Example
following vectors： 4.1 Verification by Simulations
Y (k ) = PX (k ) + QU (k ) + RC (k )
 p11 L p1( n + m−1)  Exhaust
  Air
Return Air
where P =  M ，
p L p N y ( n + m −1)  Control
Return Fan

 N y1  Damper Filter
Cooling Coil

 q11 0 0 L 0  Outside
Mixed
  Air
Air Supply Air

 q 21 q 22 0 L 0 
 M M M M M 
Control
Valve
Supply Fan
(VSD)
Q= 
q Nu 1 q Nu 2 q Nu 3 L q Nu Nu  ， Chilled
Water
 M M M M M 
  Fig. 3 Air Handling Unit
q N y 1 q N y 2 q N y 3 L q N y Nu 

R = [r1 , r2 , L , rN y ]T Considering the HVAC systems, An air-handling unite is
composed of cooling coil, air dampers, fans, chilled
water pump and valves etc. The schematic diagram of
AHU in HVAC systems is shown in Figure 3. The dry-
bulb temperature, web-bulb temperature and airflow rate
of the on-coil air are Tai , Taiwb and m& a respectively. The
on-coil temperature of the chilled water is assumed as a
constant, and the airflow rate m& a varies in
corresponding to cooling load demand of conditioned
space, these two variables are considered as
disturbances to the process. Thus the output Tao can be
described as
Tao = f (m& chw , m& a , Tai , Tchwi ) (14)
At first, before the real process testing, the Toolbox in
Matlab7.0 software is applied to simulate the control of
AHU systems in order to validate the performance of
the proposed fuzzy linearization predictive control
strategy. Because the complexity dynamical
characteristic of AHU system, it is difficult to obtain its
accurate mathematical model. However, according to
the operation experiences and expert knowledge it is
comparatively easy to construct the fuzzy model for it.
The linear fuzzy inference rules are showed on the table
1. In membership functions of input and output
invariables we supposed J = 2 , N = 2 J + 1 = 5 . When
T = 1 , N y = 20 , N u = 10 and the set point is 1℃, the
proposed fuzzy model predictive controller is used to
control the off-coil dry-bulb temperature of AHU
system. The simulation result is given in figure 4.
condition to the set point it only need about 4 minutes.
Compared with the conventional PID controller, the
novel FMPC technology has advantageous dynamical
performance of less overshoot and shorter setting time
etc. Furthermore it has better robust.
4.2 Real Testing In HVAC System Labs
A pilot centralized HVAC systems is showed as in
figure 5. The system has three chillers, three zones with
three AHUs, three cooling towers and flexible partitions
up to twelve rooms. All motors (fans, pumps and
compressors) are equipped with VSDs. The system is
made very flexible to configure these three units to form
different schemes. The cooling coils for system are two
rows with the dimension of 25 × 25 × 8 cm 3 . The
measurement signals for the experiment are the water
and airflow rates, on-coil air dry-bulb/web-bulb
temperature, CCU inlet and outlet water temperature.
The experiment is conducted under the following
conditions: The chilled water supply temperature is
fixed; the cooling load variation is achieved through the
air and water flow rates. Through lots of tests we got the
satisfied results. Figure 6 showed it need 480 seconds to
reach the setting temperature 19.5℃. The result showed
that the system nonlinearity can be well captured by the
proposed fuzzy MPC strategy.

Table 1 The rule table of fuzzy predictive model

y(k)
y m (k + 1)
NB NS ZO PS PB
NB NT NB NM NS ZO
NS NB NM NS ZO PS
u(k) ZO NM NS ZO PS PM
PS NS ZO PS PM PB
PB ZO PS PM PB PT
3
Output temperature

2 .5

2
Fig. 5 HVAC systems in labs
1 .5
（℃）

0 .5

0
0 5 10 15

time (min)
Fig. 4 The simulation result of AHU system
(------conventional PID output，
proposed FMPC output )

The simulation result in figure 4 showed that it is

Fig. 6 AHU modeling result by the proposed fuzzy model
available to apply the proposed Mamdani fuzzy model predictive control approach
predictive control strategy to control off-coil dry-bulb
temperature Tao of AHU systems. From the original
5 Conclusion
Aiming at HVAC system control, a novel predictive
control strategy based sum-min Mamdani fuzzy model
was proposed in this paper. At first the resolution
relationship of two inputs and single output variables of
fuzzy predictive model was obtained by its structure
analysis. Then the conventional model predictive control
algorithm was designed based on the linearization fuzzy
resolution model. Finally the simulation in Matlab
toolbox and Real process testing in HVAC system labs
were to validate its correction. The test results showed
that the proposed fuzzy model predictive control
approach is effective in HVAC systems control
applications. Compared with the conventional PID
controllers, this fuzzy MPC approach has the similar
dynamical performances but also has the advantages of
less overshoot and shorter setting time.
The proposed fuzzy linearization model based-on
predictive control is successfully applied to the off-coil
dry-bulb temperature control of air handling unit in
HVAC systems, which showed the practicability of the
novel fuzzy model predictive control strategy algorithm.
The author will continue to study the predictive control
algorithms based on the multi-input multi-output fuzzy
model of HVAC systems.
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