EE392m - Spring 2005

Gorinevsky
Control Engineering 11-1
Lecture 11 - Processes with Deadtime,
Internal Model Control
Processes with deadtime
Model-reference control
Deadtime compensation: Dahlin controller
IMC
Youla parametrization of all stabilizing controllers
Nonlinear IMC
Receding Horizon - MPC - Lecture 14
EE392m - Spring 2005
Gorinevsky
Control Engineering 11-2
Processes with Deadtime
Examples: transport deadtime in paper, mining, oil
Deadtime = transportation time
EE392m - Spring 2005
Gorinevsky
Control Engineering 11-3
Processes with Deadtime
Example: transport deadtime in food processing
EE392m - Spring 2005
Gorinevsky
Control Engineering 11-4
Processes with Deadtime
Example: resource allocation in computing
Computing
Tasks
Resource
Resource
Queues
Modeling
Difference
Equation
Feedback Control
Desired
Performance
EE392m - Spring 2005
Gorinevsky
Control Engineering 11-5
Control of process with deadtime
PI control of a deadtime process
0 5 10 15 20 25 30
0
0.2
0.4
0.6
0.8
1
PLANT: P = z
-5
; PI CONTROLLER: k
P
= 0.3, k
I
= 0.2
Can we do better?
Make
Deadbeat controller
d
sT
z P
e P
D

=
=
continuous time
discrete time
d
z
PC
PC

=
+ 1
d
d
z
z
PC

=
1
d
z
C

=
1
1
0 5 10 15 20 25 30
0
0.2
0.4
0.6
0.8
1
DEADBEAT CONTROL
) ( ) ( ) ( t e d t u t u + =
C P
-
y y
d
EE392m - Spring 2005
Gorinevsky
Control Engineering 11-6
Model-reference Control
Deadbeat control has bad robustness, especially w.r.t.
deadtime
More general model-reference control approach
make the closed-loop transfer function as desired
) (
) ( ) ( 1
) ( ) (
z Q
z C z P
z C z P
=
+
) ( 1
) (
) (
1
) (
z Q
z Q
z P
z C

=
Works if Q(z) includes a deadtime, at least as large as in
P(z). Then C(z) comes out causal.
) (z Q
is the reference model
for the closed loop
C P
-
y y
d
EE392m - Spring 2005
Gorinevsky
Control Engineering 11-7
Causal Transfer Function
Causal implementation requires that N M
( ) ( ) ) ( ... ) ( ... 1
) (
1
1 0
) (
1
1
t e z b z b z b t u z a z a
z B
N
N
N M N M
z A
N
N
4 4 4 4 4 4 3 4 4 4 4 4 4 2 1 4 4 4 4 3 4 4 4 4 2 1

+ + + = + + +
N
N
N
N
N M N M
N
N N
N
M M
z a z a
z b z b z b
a z a z
b z b z b
z A
z B
z C

+ + +
+ + +
=
+ + +
+ + +
= =
... 1
...
...
...
) (
) (
) (
1
1
1
1 0
1
1
1
1 0
EE392m - Spring 2005
Gorinevsky
Control Engineering 11-8
Dahlins Controller
Eric Dahlin worked for IBM in San Jose (?) then for Measurex
in Cupertino.
Dahlins controller, 1967
d
d
z
z
z Q
z
bz
b g
z P

=
1
1
1
1
) (
1
) 1 (
) (

d
z z b g
bz
z C

=
) 1 ( 1
1
) 1 (
1
) (
1
1

plant, generic first order response

=
EE392m - Spring 2005
Gorinevsky
Control Engineering 11-9
Dahlins Controller
Dahlins controller is broadly used through paper industry
in supervisory control loops - Honeywell-Measurex, 60%.
Direct use of the identified model parameters.
0 10 20 30 40 50 60
0
0.2
0.4
0.6
0.8
1
CLOSED-LOOP STEP RESPONSE WITH DAHLIN CONTROLLER
T
a
=2.5T
D
T
a
=1.5T
D
Open-loop
0 10 20 30 40 50 60
0
0.5
1
1.5
CONTROL STEP RESPONSE
Industrial tuning
guidelines:
Closed loop time
constant = 1.5-2.5
deadtime.
EE392m - Spring 2005
Gorinevsky
Control Engineering 11-10
Internal Model Control - IMC
continuous time s
discrete time z
P
P
0
e
Qe u
u P y r e
=
= ) (
0
0
1 QP
Q
C

=
General controller design approach; some use in process industry
0
QP T = Reference model:
Filter Q
Internal model:
0
P
EE392m - Spring 2005
Gorinevsky
Control Engineering 11-11
IMC and Youla parametrization
Q S
QP T
QP S
u
=
=
=
0
0
1
Sensitivities
u d
y y
y d
d

If Q is stable, then S, T, and the loop are stable

=
Choosing various stable Q parameterizes all stabilizing
controllers. This is called Youla parameterization
Youla parameterization is valid for unstable systems as well
C P
-
e
y
y
d
u
d
disturbance
reference
output
control
error
EE392m - Spring 2005
Gorinevsky
Control Engineering 11-12
Q-loopshaping
Systematic controller design: select Q to achieve the
controller design tradeoffs
The approach used in modern advanced control design:
H
2
/H

, LMI, H

loopshaping
Q-based loopshaping:
Recall system inversion
0
1 QP S = ( )
1
0
1

<< P Q S
in band
Inversion
Loopshaping
EE392m - Spring 2005
Gorinevsky
Control Engineering 11-13
Q-loopshaping
Loopshaping
For a minimum phase plant
0
0
1
QP T
QP S
=
=
( )
1 1
1
0
1
0
<< <<
<<

QP T
P Q S
( )
n
s
F
+
=
1
1
in band
out of band
F is called IMC filter, F T, reference model for the output
Lambda-tuned IMC
( ) ,
1
0

0

= = P F P Q
F QP S = = 1 1
0
F QP T = =
0
EE392m - Spring 2005
Gorinevsky
Control Engineering 11-14
IMC extensions
Multivariable processes
Nonlinear process IMC
Multivariable predictive control - Lecture 14
EE392m - Spring 2005
Gorinevsky
Control Engineering 11-15
Nonlinear process IMC
Can be used for nonlinear processes
linear Q
nonlinear model N
linearized model L
e
EE392m - Spring 2005
Gorinevsky
Control Engineering 11-16
Industrial applications of IMC
Multivariable processes with complex dynamics
Demonstrated and implemented in process control by
academics and research groups in very large corporations.
Not used commonly in process control (except Dahlin
controller)
detailed analytical models are difficult to obtain
field support and maintenance
process changes, need to change the model
actuators/sensors off
add-on equipment
EE392m - Spring 2005
Gorinevsky
Control Engineering 11-17
Dynamic inversion in flight control
) (
) , ( ) , (
1
F v G u
u v x G v x F v
des
=
+ =

&
&

=
NCV
MCV
LCV
v
X-38 - Space Station
Lifeboat
Honeywell MACH
Dale Enns
Reference model:
des
v
s
v
&
1
=
EE392m - Spring 2005
Gorinevsky
Control Engineering 11-18
Dynamic inversion in flight control
NASA JSC study for X-38
Actuator allocation to get desired forces/moments
Reference model (filter): vehicle handling and pilot feel
Formal robust design/analysis (-analysis etc)
EE392m - Spring 2005
Gorinevsky
Control Engineering 11-19
Summary
Dahlin controller is used in practice
easy to understand and apply
IMC is not really used much
maintenance and support issues
is used in form of MPC Lecture 14
Youla parameterization is used as a basis of modern
advanced control design methods.
Industrial use is very limited.
Dynamic inversion is used for high-performance control of
air and space vehicles
this was presented for breadth, the basic concept is simple
need to know more of advanced control theory to apply in practice