Single variable

Selective Control

Model Predictive Control

14/03/2011 CAB4 523 – Multivariable Process 1

 Objectives

End of the chapter, you should be able to

Selective Control

• Explain the concept of

• Model predictive control
• Internal model control
• Smith predictor (dead time
compensator)

14/03/2011 CAB4 523 – Multivariable Process 2

 Introduction
• Most modifications to single loop feedback
control presented so far have used additional
measurements to improve control
Selective Control

performance
• An alternative to the PID algorithm is
provided.
• The most remarkable feature of PID is the
success of this single algorithm in so many
different applications
• The development of PID lacked a fundamental
structure from which the algorithm could be
derived, limitations could be identified, and
enhancements
14/03/2011 CAB4could be developed
523 – Multivariable Process 3
 Introduction

• A general development is presented that gives great

insight into the roles of both the control algorithm
and the process in the behavior of feedback systems
Selective Control

• It also provides a method for tailoring the feedback

control algorithm to each specific application
• Since the model of the process is an integral part of
the control algorithm, the controller equation
structure depends on the process model

14/03/2011 CAB4 523 – Multivariable Process 4

 Introduction
• Although the control algorithm is different, the
feedback concept is unchanged, and the selection
criteria for manipulated and controlled variables are
Selective Control

the same
• The algorithms could be used as replacements for
the PID controller in nearly all applications
• PID controller algorithm is considered the standard
algorithm
• Alternative algorithm is selected only when it
provides better performance

14/03/2011 CAB4 523 – Multivariable Process 5

 Predictive Control Structure

• The derivation of control algorithms is

based on the predictive control structure
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• Although many methods are possible for

deriving practical control algorithms,
only two of these will be dealt with
– Internal Model Control
– Smith Predictor

14/03/2011 CAB4 523 – Multivariable Process 6

 Model Predictive Control Structure

• Consider the typical thought process used by a

human operator implementing a feedback control
manually
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• The approach used by the operator has three

important characteristics:
– It uses a model of the process to determine the
proper adjustment to the manipulated
variable , because the future behavior of the
controlled variable can be predicted from the
values of the manipulated variable

14/03/2011 CAB4 523 – Multivariable Process 7

 Model Predictive Control Structure
– The important feedback information is the
difference between the predicted model
response and the actual process response. If
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this difference is zero, the control would be

perfect, and no further correction would be
needed
– This feedback approach can result in the
controlled variable approaching its set point after
several iterations, even with modest model
errors
• These characteristics provide the basis for the
predictive control structure

14/03/2011 CAB4 523 – Multivariable Process 8

 Model Predictive Control Structure

• A continuous version of the approach can be

automated with the general predictive control
structure
Selective Control

D(s) Gd (s)

Tp(s) +
SP(s) + Gcp (s) G p (s) + CV(s)
-
MV(s)
+
Gm (s)
-
Em(s)
14/03/2011 CAB4 523 – Multivariable Process 9
 Model Predictive Control Structure
• The variable Em is equal to the effect of the disturbance,
Gd(s)D(s), if the model is perfect (Gm(s)=Gp(s))
• The structure highlights the disturbance for feedback
correction
Selective Control

• However, the model is essentially never exact

• The feedback signal includes the effect of the
disturbance and the model error, or mismatch
• The feedback signal can be considered as a model
correction
• It is used to correct the set point so as to provide a better
target value, Tp(s), to the predictive control algorithm
• The controller calculates the value of the manipulated
variable based on the corrected target
14/03/2011 CAB4 523 – Multivariable Process 10
 Model Predictive Control Structure
• The closed-loop transfer functions for the
setpoint and disturbances are:
Selective Control

CV(s) Gcp (s)Gv (s)G p (s)

SP(s) 1 Gcp (s) Gv (s)G p (s)Gs (s) Gm (s)
Gcp (s)G p (s)
1 Gcp (s) G p (s) Gm (s)
(1)

CV(s) 1 Gcp (s)Gm

D(s) (s) Gd (s) Gm (s)
1 Gcp (s) Gv (s)Gp (s)Gs (s)
1 1 Gcp (s)
Gcp (s)G
G p (s)m (s)GG d (s)
m (s)
(2)

14/03/2011 CAB4 523 – Multivariable Process 11

 Model Predictive Control Structure
• The controller algorithm, Gcp(s), for the predictive structure
is to be determined to give good dynamic performance
• Let us determine a few properties of the predictive
structure that establish important general features of its
Selective Control

performance and give guidance for designing the

controller
• A very important control performance objective is to
ensure that the controlled variable returns to its set point
in steady state
• This objective can be evaluated from the closed-loop
transfer functions by applying the final value theorem and
determining whether the final value of the controlled
variable, expressed as a deviation variable from the initial
set point, reaches the set point
14/03/2011 CAB4 523 – Multivariable Process 12
 Model Predictive Control Structure
• The application of the final value theorem is
performed for the following conditions:
Selective Control

1. The input is steplike, in that it reaches a steady state

after a transient, SP(s) = ΔSP/s and D(s)= ΔD/s

2. The process without control reaches a steady state

after a steplike input, Gp(0) = Kp and Gm(0)=Km

3. The closed-loop system is stable, which can be

achieved via tuning

14/03/2011 CAB4 523 – Multivariable Process 13

 Model Predictive Control Structure

• Under these conditions, application of the final

value theorem yields,
Selective Control

Gcp (0)Gp (0)

SP
s
lim
t CV(t) lim
s 0 sCV(s) s 1 Gcp (0) G p (0) Gm (0)
SP
(3)
if and only if
Gcp (0) G 1
m (0) (4)

14/03/2011 CAB4 523 – Multivariable Process 14

 Model Predictive Control Structure

D 1 Gcp (0)Gm (0) Gd (0)

lim
t CV(t) lim
s sCV(s)
s 1 Gcp (0) G p (0) Gm (0)
s 0
(5)
Selective Control

If and only if Gcp (0) G 1m (0)

• The predictive control system will satisfy both of the
foregoing equations, thus providing zero steady-
state offset for a steplike input, if
G (0) G 1m (0) or Kcp = 1/Km (6)
cp

14/03/2011 CAB4 523 – Multivariable Process 15

 Model Predictive Control Structure
• The next control performance objective is
perfect control
• Perfect control means the controlled variable
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never deviates from the set point

• CV(s)/D(s) = 0 and CV(s)/SP(s) = 1 provide
the
basis for the following condition:
Gcp (s) Gm
1

(s) (7)
• Perfect control can be achieved if the controller
could be set equal to the inverse of the
process dynamic model

14/03/2011 CAB4 523 – Multivariable Process 16

 Model Predictive Control Structure
• Block diagram algebra can be applied to derive
the following condition for the behavior of the
manipulated variable
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MV(s) Gd (s)Gcp (s)

D(s) 1 Gcp (s) G p (s) Gm (s)
Gd (s)Gcp (s) Gd (s)
(8)
1 Gcp (s)Gp (s) 1 G p (s)

• The perfect control system must invert the true

process in some manner

14/03/2011 CAB4 523 – Multivariable Process 17

 Model Predictive Control Structure

• The following are four reasons why an exact

inverse of the process is not possible:
Selective Control

– Dead time
– Numerator dynamics
– Constraints
– Model mismatch

14/03/2011 CAB4 523 – Multivariable Process 18

 Dead time
• In most physical processes, the feedback transfer
function includes dead time in the numerator
• Application of equations (7) and (8) to a typical
process model with dead time gives, when the
Selective Control

model is factored into two terms

G m (s) g m (s)e s
1
G cp (s) G m (s) g m (s) 1
e s

• The perfect controller would have to include the

ability to use future information in determining the
current manipulated variable – not physically
realizable

14/03/2011 CAB4 523 – Multivariable Process 19

 Numerator Dynamics

• Some process models have dynamic elements in

the numerators of feedback transfer function
Selective Control

• Application of IMC equation to an example gives

s 1
G m (s) K 2

1s 1
2

1 2
G cp (s) G m (s) 1 1
1 s
K 2s
• The controller would not be1able to provide perfect
control when 2< 0

14/03/2011 CAB4 523 – Multivariable Process 20

 Constraints

• The manipulated variable must observe constraints

• There is no guarantee that the controller would
Selective Control

observe constraints
• Thus, in some cases, values of the manipulated
variables that are required to achieve perfect
control performance would not be possible

14/03/2011 CAB4 523 – Multivariable Process 21

 Model mismatch

• The model used in the predictive system will almost

certainly be different from the true process
Selective Control

• If the difference is large, the closed-loop system

could become unstable, a situation that precludes
acceptable control performance

14/03/2011 CAB4 523 – Multivariable Process 22

 Model Predictive Control

• Since the perfect controller is not possible, a

manner for deriving an approximate inverse of the
model is required
Selective Control

• The approximate inverse is the Gcp(s) that contains

important features for control performance
• Many methods exist for developing approximate
inverse
• Each method would result in a different control
algorithm giving different control performance

14/03/2011 CAB4 523 – Multivariable Process 23

 IMC Controller

• Based on Brosilow (1979) and Garcia and Morari

(1983)
Selective Control

• Since an exact inverse is not possible, the IMC

approach segregates and eliminates the aspects of
the model transfer function that make the
calculation of realizable inverse impossible
• The first step is to factor the model into the product
of two factors
Gm (s) Gm (s)Gm (s)

14/03/2011 CAB4 523 – Multivariable Process 24

 IMC Controller

•G m (s) - The noninvertible part has an inverse that is

not causal or is unstable
Selective Control

• The steady state gain of this term must be 1.0

• - The invertible part has an inverse that
Gm (s)
is causal and stable, leading to realizable,
stable controller
• The IMC Controller (idealized)
~ 1
Gcp (s) Gm (s)

• This design ensures the controller is realizable and

the system is internally stable

14/03/2011 CAB4 523 – Multivariable Process 25

 IMC Controller
• Example 1: Apply the IMC procedure to
design a controller for a process described by

0.039
Selective Control

Gm (s)
(5s 1)3

0.039
Gm (s) Gm (s) 1.0
(5s 1)3

1 (5s 1)3
Gcp (s) Gm (s)
0.039

14/03/2011 CAB4 523 – Multivariable Process 26

 IMC Controller

Drawbacks of the design:

• The controller involves first, second and third order
Selective Control

derivatives of the feedback signal

• These derivatives can not be calculated exactly,
although they can be estimated numerically
• Appearance of higher-order derivatives of a noisy
signal could lead to unacceptable control
• High derivatives can lead to extreme sensitivity to
model errors
• The controller can not be used without
modification

14/03/2011 CAB4 523 – Multivariable Process 27

 IMC Controller
• All realistic processes are modeled by transfer
functions having a denominator order greater than the
numerator order
• Thus, the IMC controller, the inverse of the process
Selective Control

model, will have a numerator order greater than

denominator
• Results in first- or higher-order derivatives in the
controller that lead to unacceptable manipulated
variable behavior, and, thus, poor performance and
poor robustness when model errors occur
• Achieving good control performance requires
modification that modulates the manipulated variable
behavior and increase the robustness of the system

14/03/2011 CAB4 523 – Multivariable Process 28

 IMC Controller
• All realistic processes are modeled by transfer
functions having a denominator order greater than the
numerator order
• Thus, the IMC controller, the inverse of the process
Selective Control

model, will have a numerator order greater than

denominator
• Results in first- or higher-order derivatives in the
controller that lead to unacceptable manipulated
variable behavior, and, thus, poor performance and
poor robustness when model errors occur
• Achieving good control performance requires
modification that modulates the manipulated variable
behavior and increase the robustness of the system

14/03/2011 CAB4 523 – Multivariable Process 29

 IMC Controller
• A filter of the feedback signal is used
• The filter is placed before the controller as shown in
fig.
D(s) G (s)
Selective Control

Tp(s)
+
SP(s) + G f (s) Gcp (s) G p (s) + CV(s)
-
MV(s)
+
Gm (s)
-
Em(s)

14/03/2011 CAB4 523 – Multivariable Process 30

 IMC Controller
• To make the controller proper or semiproper, add a
filter to make the controller proper
~ 1
Gcp (s) Gcp (s) Gm (s) G f
Selective Control

(s)
• For tracking setpoint changes,
1
G f (s)
s 1n
• Adjust the filter-tuning parameter to vary speed of the
response of the closed-loop system
• : small --- response is fast
large --- the closed loop response is more robust
(insensitive to model error)
14/03/2011 CAB4 523 – Multivariable Process 31
 IMC Controller
• The modified IMC Controller for the example

1 10.5s
G f (s)Gcp (s)
1
Selective Control

0.039 s 1

14/03/2011 CAB4 523 – Multivariable Process 32

 Example 2
Design an IMC controller using the alternative first-
order-plus-dead-time approximate model for the
process
0.039e 5.5s
Selective Control

Gm (s)
(10.5s
0.039 1)
Gm (s) Gm (s) e 5.5s
(10.5s
1)
~ 1 (10.5s
Gcp (s) Gm (s)
1) 0.039

• The controller is proportional-derivative, which

still might be too aggressive but can be modified
to give acceptable performance
14/03/2011 CAB4 523 – Multivariable Process 33
 Example 2
• To make the controller semiproper,

(10.5s
Gcp (s)
1)
Selective Control

0.039 s 1
• Filter tuning parameter is adjusted to provide the
required performance

14/03/2011 CAB4 523 – Multivariable Process 34

 Example 3
• Consider the following transfer function:

( 6s 1)
Gm (s)
15s 1 3s 1
Selective Control

• This system has a RHP zero and will exhibit

inverse response characteristics
• An all-pass factorization of the model is to be used

6s 1 6s 1
Gm (s) Gm (s)
(6s 1) (15s 1)(15s
1)

14/03/2011 CAB4 523 – Multivariable Process 35

 Example 3
• An idealized controller would be:

~ 1 (15s 1)(3s
Gcp (s) Gm (s)
1) (6s
Selective Control

1)
• Add the filter to make the controller semi-proper

(15s 1)(3s
Gcp (s)
1)
(6s 1)( s
1)

14/03/2011 CAB4 523 – Multivariable Process 36

 IMC-Based PID Controllers

• Although the IMC procedure is clear and easily

implemented, the most common industrial controller
is still the PID controller
Selective Control

• The IMC block diagram can be rearranged to form

the standard feedback control diagram
• The IMC law is equivalent to PID-type feedback
controller for a number of common process transfer
functions

14/03/2011 CAB4 523 – Multivariable Process 37

 IMC-Based PID Controllers
D(s)
G d (s)

+ +
SP(s) + Gcp (s) G p (s) + CV(s)
Selective Control

- + MV(s)

G m (s)

The inner loop is given by:

Gcp (s)
Gc (s) : IMC-based PID
1 Gm (s)Gcp (s)

14/03/2011 CAB4 523 – Multivariable Process 38

 IMC-Based PID Controller Design
Procedure
1. Find the IMC controller transfer function, Gcp(s),
which includes a filter, Gf(s),
– to make Gcp(s) semiproper, or
Selective Control

– the order of numerator of Gcp(s) is one order greater

than the denominator of Gcp(s) (to give derivative action)
– *Major difference from IMC procedure
2. Find the equivalent standard feedback controller
using the transformation:
Gcp (s)
Gc (s)
1 Gm (s)Gcp (s)
Write this in the form of a ratio between two
polynomials
3. Show this in PID form and find K c , I and D
14/03/2011 CAB4 523 – Multivariable Process 39
 IMC-Based PID Controller Design for
First-Order Process
kp
• First order process: Gm (s)
p s 1

1 ps 1
Selective Control

Gcp (s) G f (s) Gm (s)

1k p s 1
1 ps
Gcp (s)
k p 1s 1
• Find the equivalent standard feedback controller:
p s
Gcp (s) k p ( s 1) p s 1
Gc (s) 1
1 Gm (s)Gcp (s) k p ps 1 kp s
1
ps 1 kp ( s
14/03/2011
1)
CAB4 523 – Multivariable Process 40
 IMC-Based PID Controller Design

• Find the equivalent standard feedback controller:

p 1 p 1
Gc (s) 1
Selective Control

kp kp s kp ps

p
K c (s) I p
kp

• The IMC-based PID design procedure for a first-

order process has resulted in a PI control law

14/03/2011 CAB4 523 – Multivariable Process 41

 IMC-Based PID Controller Design for
First-Order Process with Time
• Delay
First order process: G (s)
k e
m
p
s

p s 1
s 0.5 s 1
• Use a first-order Pade approximation e
0.5 s 1
Selective Control

k p 0.5 s
Gm (s)
1p s 1 0.5 s 1

kp
Gm (s) Gm (s) 0.5 s 1
p s 1 0.5 s
1
• The idealized controller is
~ 1 ps 1 0.5 s
Gcp (s) Gm (s)
1 kp

14/03/2011 CAB4 523 – Multivariable Process 42

 IMC-Based PID Controller Design for
First-Order Process with Time
Delay
1 ps 1 0.5 s 1
Gcp (s) G f (s) Gm (s)
1 kp s 1
Selective Control

• Note: The numerator order is one degree higher

than the denominator to realize a PID controller
• Find the equivalent standard feedback
controller: ~
Gcp (s) Gcp (s)G f (s)
Gc (s) ~
1 Gm (s)Gcp (s) 1 Gm (s)Gcp (s)G f (s)

14/03/2011 CAB4 523 – Multivariable Process 43

 IMC-Based PID Controller Design for
First-Order Process with Time
Delay ~ ~
Gcp (s)G f (s) Gcp (s)G f (s)
Gc (s) 1
1 Gm (s)Gm (s) Gm (s) Gf 1 Gm (s)G f (s)
Selective Control

(s)
1 ps 1 0.5 s
kp 1
0.5
1 0.5 p s 2 p 0.5 s 1
kp s 0.5 s
p 0.5 1 p
1 s
kp p 0.5 s p
0.5 2

14/03/2011 CAB4 523 – Multivariable Process 44

 The Smith Predictor

• Time delay compensation that deals with occurrence

of significant dead time
D(s)
Gd (s)
Selective Control

Gcp (s)

P +
SP(s) + E+ Gc (s) G p (s) + Y(s)

- E -
MV(s)
Y~1 ~
Y2 +
Gm (s) Gm (s)
-

14/03/2011 CAB4 523 – Multivariable Process 45

 The Smith Predictor
• The process model is split into two parts:

– The part without a time delay, Gm

s
– The time delay term, G m e
Selective Control

• The model of the process without time delay is

used to predict the effect of control actions on the
undelayed output
• The controller uses the predicted undelayed
response to calculate its output signal
• The predicted delayed output is compared with
the actual process output (delayed response)
• This step corrects for modeling errors and for
disturbances entering the process

14/03/2011 CAB4 523 – Multivariable Process 46

 The Smith Predictor

~ ~ ~
(Y
E E Y2 )
Ysp
Y1
Y1 there are no
Selective Control

• If the process model is perfect and

disturbances, ~
Y2
Y
~
• Then E Ysp
Y1
• For this ideal case, the controller responds to
the error signal that would occur if no time delay
were present

14/03/2011 CAB4 523 – Multivariable Process 47

 The Smith Predictor
• An alternative configuration for the Smith predictor
• Somewhat similar to that in cascade control
Selective Control

D(s)
Gd (s)
Gcp (s)

+
SP(s) + E+ Gc (s)
P G p (s) + Y(s)

- E -

Gm (s)(1 e s
)

14/03/2011 CAB4 523 – Multivariable Process 48

 The Smith Predictor
• Assuming there is no model error, the inner loop
has the effective transfer function
P Gc
G
Selective Control

E 1 GcGm (1 s
)
e
• The closed-loop setpoint transfer function is
s
Y GcG pe
1 Gc Gm
Ysp

• The Smith predictor has the theoretical advantage

of eliminating the time delay term in the
characteristic equation

14/03/2011 CAB4 523 – Multivariable Process 49

 The Smith Predictor through Direct
Synthesis approach

• The Direct Synthesis approach can be used to

derive a controller with time-delay compensation
Selective Control

• The controller design is based on a process model

and a desired closed-loop transfer function
• Do not always have PID structure, however it
produce PI or PID controllers for common process
models

14/03/2011 CAB4 523 – Multivariable Process 50

 The Smith Predictor through Direct
Synthesis approach
• Consider the block diagram of a feedback control
system
Selective Control

• The closed-loop transfer function for setpoint

changes is Y Km Gc Gv Gp GG c

1 Gc G vG p G m 1 Gc G
Ysp
with G GvGpGm and assume Gm
Km
14/03/2011 CAB4 523 – Multivariable Process 51
 The Smith Predictor through Direct
Synthesis approach
• Rearranging and solving for Gc

1 Y / Ysp
Gc
Selective Control

G 1 Y / sp
Y
• As Y/Ysp is not known a priori, the above design
cannot be used.
• Also, distinguish between the plant G and the
model G~
• The practical design equation
1 Y / Ysp d
Gc ~
G 1 Y / sp d
Y
14/03/2011 CAB4 523 – Multivariable Process 52
 The Smith Predictor through Direct
Synthesis approach
• The selection of the desired closed-loop transfer
function is the key decision
• Note: the controller transfer function has the
~
Selective Control

inverse of G
• Desired closed-loop transfer functions
Y 1
cs
Ysp d
1
s
Y e
cs
Ysp d
1

14/03/2011 CAB4 523 – Multivariable Process 53

 The Smith Predictor through Direct
Synthesis approach
• By substituting in the controller design equation,
we get respectively,
1 1
Gc ~
Selective Control

G cs
e s
Gc 1~ s
G cs 1 e

• Approximating the time delay in the denominator

with a truncated Taylor series expansion
s
1 e
Gc
~( c
G )s

• Both are integral controllers, eliminate offset

14/03/2011 CAB4 523 – Multivariable Process 54
 Conclusions

• You have learnt the principles of

– Model Predictive Controller structure
Selective Control

– IMC Controller
– Smith Predictor

14/03/2011 CAB4 523 – Multivariable Process 55