Indian Institute of Technology Hyderabad

Department of Electrical Engineering

EE5220 Advanced Control Systems
Assignment 01 Multivariable systems
Submission Deadline: One Week
Key Learning from the Assignment:
Relative Gain Array
Decoupling Control
Nieder-Linsky Index

1. Find RGA and also suggest input-output pairing that will result in minimum interaction.

y
1
y
2
y
3
!
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=
0.66e
'2.6s
6.7s +1
'0.61e
'3.5s
8.64s +1
'0.0049e
's
9.06s +1
1.11e
'6.5s
3.25s +1
'2.36e
'3s
5s +1
'0.012e
'1.2s
7.09s +1
'33.68e
'9.2s
8.15s +1
46.2e
'9.4s
10.9s +1
0.87 11.61s +1 ( )e
's
3.89s +1 ( ) 18.8s +1 ( )
!
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u
1
u
2
u
3
!
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2. Compute RGA for the following nonlinear system. Take y
1
= h
s
, y
2
= T
S
, u
1
= T
H
and u
2
=
T
c
.
K= G 0 ( ) =
1
k
2 h
s
2 h
s
T
H
!T
S
( )
h
s
T
C
!T
S
( )
h
s
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3. Compute RGA for the following under defined system.

y
1
y
2
y
3
!
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=
0.66e
'2.6s
6.7s +1
'0.0049e
's
9.06s +1
1.11e
'6.5s
3.25s +1
'0.012e
'1.2s
7.09s +1
'33.68e
'9.2s
8.15s +1
0.87 11.61s +1 ( )e
's
3.89s +1 ( ) 18.8s +1 ( )
!
"
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u
1
u
2
!
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4. Which loop pairing is expected to give best control performance for the following system?

y
1
y
2
!
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=
0.5e
'0.2s
3s +1
0.07e
'0.3s
2.5s +1
0.04e
'0.4s
2.8s +1
0.004e
'0.5s
1.5s +1
'0.003e
'0.2s
s +1
'0.001e
'0.4s
1.6s +1
!
"
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u
1
u
2
u
3
!
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&

5. A certain multivariable system has three outputs, which can be controlled by any of four
inputs available. The transfer function matrix of the system is given below. Which input-
output pairing configuration is expected to give the best results for multiple single-loop
control strategy?

y
1
y
2
y
3
!
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=
0.5e
'0.2s
3s +1
0.07e
'0.3s
2.5s +1
0.04e
'0.4s
2.8s +1
0.01e
'0.5s
10s +1
0 0 0
0.5e
'0.1s
2.1s +1
0.004e
'0.5s
1.5s +1
'0.003e
'0.2s
s +1
'0.001e
'0.4s
1.6s +1
0
!
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u
1
u
2
u
3
u
4
!
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6. What is time scale decoupling? Give an example system where time scale decoupling can be
achieved.

7. Do the following:
a. The following incomplete RGA was determined experimentally (after four very long and
tedious experiments) for a 3x3 system. Is there enough information to determine input-
output pairing? What is your recommendation?
! =
? ? "0.6
? 0.8 ?
"0.2 "0.2 ?
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(
(
(

b. The same strategy as that used in part (a) was used to generate the following incomplete
RGA, this time for a 4x4 system. What pairing would you recommend?
! =
? 0.15 ? "0.09
"0.01 ? 0.29 1.15
? 3.31 0.27 ?
0.22 ? ? 1.84
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(
(
(

8. The steady state gain matrices for three multivariable systems are given below.
a. What do the RGAs for these systems suggest regarding how well we can expect single-
loop controllers to work in each case?
b. Examine the steady state gain matrix for system C carefully. What clues does it contain
about inherent process characteristics, which are reflected in the RGA?
c. Of the two systems A and B, which would you expect to be easier to control? Why?

SystemA: K =
!10 0.04
!10 !0.04
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SystemB: K =
!1.0 0.4
!1.0 !0.4
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SystemC : K =
2.3 1.1
1.14 0.55
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9. Following 4x5 transfer function matrix model was developed by Congalidis, Richards and
Ray (Proc. ACC, 1986) for a CSTR used for copolymerization of methyl-methacrylate and
vinyl acetate. Suggest best pairing that will give least interaction as well as structurally
stable system.
G s ( ) =
0.34
0.85s +1
0.21
0.42s +1
0.5 0.5s +1 ( )
0.12s
2
+ 0.4s +1
0
6.46 0.9s +1 ( )
0.07s
2
+ 0.3s +1
!0.41
2.41s +1
0.66
1.51s +1
!0.3
1.45s +1
0
!3.72
0.8s +1
0.3
2.54s +1
0.49
1.54s +1
!0.71
1.35s +1
!0.2
2.71s +1
!4.71
0.08s
2
+ 0.41s +1
0 0 0 0
1.03 0.23s +1 ( )
0.07s
2
+ 0.31s +1
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10. Do as directed.
a. Design a dynamic decoupler for the process transfer function matrix (G(s)) and
decoupler transfer function matrix (G
I
(s)).
b. Design a steady state decoupler for the process transfer function (G(s)) matrix.
c. Use two single loop PI controllers with tuning parameters: K
c1
= 0.3; 1/
I1
= 0.307 and
K
c2
= -0.05; 1/
I2
= 0.107. Compare the performance of the steady state decoupler
(designed in part (b)) with the dynamic decoupler (designed in part (a)) for a step
change of 0.75 in the y
1
set point. {Use MATLAB/SCILAB}
d. Now assume the True process transfer function matrix (G
T
(s)). Implement the same
decoupler designed in part (a) on this process along with the same PI controllers.
Compare the response to the same set point change in y
1
. Comment on the effect of
plant-model mismatch on the performance of this dynamic decoupler. {Use
MATLAB/SCILAB}
G s ( ) =
12.8e
!s
16.7s +1
!18.9e
!3s
21s +1
6.6e
!7s
10.9s +1
!19.4e
!3s
14.4s +1
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G
I
s ( ) =
1 g
I12
g
I 21
1
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G
T
s ( ) =
15e
!2s
15s +1
!25e
!4s
16s +1
6e
!5s
9s +1
!22e
!4s
12s +1
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11. Do as directed.
a. Determine system configuration that will result in least interaction if multiple single loop
controllers are used.
b. Since y
2
is the least sensitive variable and since it is known from experience that the
greatest amount of interaction is between control loop 1 and 3, it is desired to design
decouplers for only these loops, leaving loop 2 to operate without decoupling. Take the
same decoupler transfer function given in the previous example.
c. Implement the partial decouplers designed in part (b) along with three single loop PI
controllers with the tuning parameters: K
c1
= 0.008;
I1
= 217, K
c2
= 1303.8;
I2
= 33 and
K
c3
= 0.00097;
I3
= 47. Obtain closed loop system response to a step change of -50 in
the y
1
set point. Plot all three responses as well as manipulated inputs. {Use
MATLAB/SCILAB}
d. Comment on effectiveness of the partial decouplers. Did the response of y
2
suffer
significantly as a result of having been left to operate without decoupling?
y
1
y
2
y
3
!
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=
119
217s +1
153
337s +1
'21
10s +1
0.00037
500s +1
0.000767
33s +1
'0.00005
10s +1
930
500s +1
'667e
'320s
166s +1
'1033
47s +1
!
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u
1
u
2
u
3
!
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