Multiple-Input, Multiple-

Output (MIMO) Processes

Mabrur Zanata (02211640000013)
Nadhila Fajriani Putri (02211640000017)
Najlaa Aribah Meutia (02211640000xxx)
Introduction

 Most industrial process control applications involve a number of input

(manipulated) variables and output (controlled) variables.
 Modelling MIMO processes is no different conceptually than SISO
processes.
A multi-input, multi-output thermal
mixing process

wh wc
Th Tc

w
T

A = cross sectional area E-1

of tank
A multi-input, multi-output thermal
mixing process
 The level h in stirred tank and the temperature T are to be controlled by
adjusting the flow rates of hot and cold stream (wh and wc).
 Th and Tc are disturbance variables.
 The outlet flow rate w is maintained constant by the pump and liquid
properties are assumed to be constant (not affected by temperature).
A multi-input, multi-output thermal
mixing process
 Liquid volume can vary with time, energy and mass balances for this process
are
𝑑[𝑉 𝑇−𝑇𝑟𝑒𝑓 ]
𝜌𝐶 𝑑𝑡
= 𝑤ℎ 𝐶 𝑇ℎ − 𝑇𝑟𝑒𝑓 + 𝑤𝑐 𝐶 𝑇𝑐 − 𝑇𝑟𝑒𝑓 − 𝑤𝐶(𝑇 − 𝑇𝑟𝑒𝑓 ) (6-109)

𝑑𝑉
𝜌 𝑑𝑡 = 𝑤ℎ + 𝑤𝑐 − 𝑤 (6-110)

The energy balance includes a thermodynamic reference temperature Tref

Expanding the derivate gives
𝑑[𝑉 𝑇−𝑇𝑟𝑒𝑓 ]
𝜌𝐶 𝑑𝑡
= 𝑤ℎ 𝐶 𝑇ℎ − 𝑇𝑟𝑒𝑓 + 𝑤𝑐 𝐶 𝑇𝑐 − 𝑇𝑟𝑒𝑓 − 𝑤𝐶(𝑇 − 𝑇𝑟𝑒𝑓 )
𝑑[𝑉 𝑇−𝑇𝑟𝑒𝑓 ] 𝑑𝑉 𝑑𝑇
𝜌𝐶 𝑑𝑡
= 𝜌𝐶 𝑑𝑡 𝑇 − 𝑇𝑟𝑒𝑓 + 𝜌𝐶𝑉 𝑑𝑡
𝑑[𝑉 𝑇−𝑇𝑟𝑒𝑓 ] 𝑑𝑉 𝑑𝑇
= 𝑇 − 𝑇𝑟𝑒𝑓 + 𝑉 (6-111)
𝑑𝑡 𝑑𝑡 𝑑𝑡
 Substitute equation 6-111 to the left side of equation 6-109
𝑑𝑉 𝑑𝑇
𝜌𝐶( 𝑑𝑡 𝑇 − 𝑇𝑟𝑒𝑓 + 𝑉 𝑑𝑡 ) = 𝑤ℎ 𝐶 𝑇ℎ − 𝑇𝑟𝑒𝑓 + 𝑤𝑐 𝐶 𝑇𝑐 − 𝑇𝑟𝑒𝑓 − 𝑤𝐶(𝑇 − 𝑇𝑟𝑒𝑓 )
𝑑𝑉 𝑑𝑇
𝜌𝐶 𝑑𝑡 𝑇 − 𝑇𝑟𝑒𝑓 + 𝜌𝐶𝑉 𝑑𝑡 = 𝑤ℎ 𝐶 𝑇ℎ − 𝑇𝑟𝑒𝑓 + 𝑤𝑐 𝐶 𝑇𝑐 − 𝑇𝑟𝑒𝑓 − 𝑤𝐶(𝑇 − 𝑇𝑟𝑒𝑓 )

 Following the substitution of equation 6-110 to equation above

𝑑𝑇
(𝑤ℎ +𝑤𝑐 − 𝑤) 𝐶 𝑇 − 𝑇𝑟𝑒𝑓 + 𝜌𝐶𝑉 𝑑𝑡 = 𝑤ℎ 𝐶 𝑇ℎ − 𝑇𝑟𝑒𝑓 + 𝑤𝑐 𝐶 𝑇𝑐 − 𝑇𝑟𝑒𝑓 − 𝑤𝐶(𝑇 − 𝑇𝑟𝑒𝑓 )
𝑑𝑇
𝑤ℎ 𝐶𝑇 − 𝑤ℎ 𝐶𝑇𝑟𝑒𝑓 + 𝑤𝑐 𝐶𝑇 − 𝑤𝑐 𝐶𝑇𝑟𝑒𝑓 − 𝑤𝐶𝑇 + 𝑤𝐶𝑇𝑟𝑒𝑓 + 𝜌𝐶𝑉 =𝑤ℎ 𝐶𝑇ℎ − 𝑤ℎ 𝐶𝑇𝑟𝑒𝑓 +𝑤𝑐 𝐶𝑇𝑐 −
𝑑𝑡
𝑤𝑐 𝐶𝑇𝑟𝑒𝑓 − 𝑤𝐶T + w𝐶𝑇𝑟𝑒𝑓
𝑑𝑇
𝑤ℎ 𝑇 + 𝑤𝑐 𝑇 + 𝜌𝑉 𝑑𝑡 = 𝑤ℎ 𝑇ℎ + 𝑤𝑐 𝑇𝑐
𝑑𝑇 1
= 𝜌𝑉 [𝑤ℎ 𝑇ℎ + 𝑤𝑐 𝑇𝑐 − 𝑤ℎ + 𝑤𝑐 𝑇]
𝑑𝑡
𝑑𝑇 1
= [𝑤ℎ 𝑇ℎ + 𝑤𝑐 𝑇𝑐 − 𝑤ℎ + 𝑤𝑐 𝑇] (6-112)
𝑑𝑡 𝜌𝐴ℎ
𝑑ℎ 1
= 𝜌𝐴 𝑤ℎ + 𝑤𝑐 − 𝑤 (6-113)
𝑑𝑡
 Separating wh and wc from Th and Tc
Block diagram of the MIMO
thermal mixing system with
variable liquid level

1. The transfer function used

facilitates the design of control
systems that deal with the
interactions between inputs and
outputs
2. The development of physically-
based MIMO models can require
a significant effort  use empirical
models rather than theoritical