Module IV(I)

Control Systems

Design

DYNAMICS and CONTROL

Presented by

Pedro AlbertosProfessor of Systems Engineering and Control - UPV

Complex Control system

Module IV(III)

Control Systems

Design

Examples of systems and signals

Models of systems and signals

Controlled systems: properties

Control systems design

Control systems structure

Parameters tuning

“Complex” Control systems design

Control benefits

Topics to study2

Modules:

DYNAMICS & CONTROL

Examples of systems and signals

Models of systems and signals

Controlled systems: properties

Control systems design

Control systems structure

Parameters tuning

“Complex” Control systems design

Control benefits

Topics to study

Control Systems Structure

– Open-loop control

– Closed-loop control

– Supervisory control

– Cascade control

– Feed-forward control

– Two degrees of freedom control

– Hierarchical control

DYNAMICS & CONTROL

SYSTEM

Disturbances

Information

Co

ntr

olle

d

vari

able

s

Information

CONTROLGoals

SENSOR

3

. .dy G u G p Based on the Process

and disturbance Model:Ideal Control: 1 .r du G y G p

Tracking control: Perfect knowledge and feasibility of G-1

DYNAMICS & CONTROL

4

Basic control structures (I)– Open-loop Control

PROCESSCONTROL

Disturbance

Controlled Var.

Control

Action

Goals

sensor

ry yu

p

Regulation : Perfect knowledge and feasibility of G-1, Gd , and access to p

PROCESSCONTROL

Disturbance

Controlled V.

Control

Action

Objetives

sensor

DYNAMICS & CONTROL

5

Basic control structures (II)– Closed-loop Control

Characteristics:

• Need a good feedback: access to variables and sensors

nGKH

GKHd

GKH

GGr

GKH

GKFy ed

111

• Use of high gain K1

0. ey F r d nH

Risk of instability

DYNAMICS & CONTROL

6

Improved control structures (I)– Virtual sensors

PROCESS

Disturbance

Contr.

Var.

Control

Action+

n

Measured

Var.

DYNAMICS & CONTROL

6

Improved control structures (I)– Virtual sensors

PROCESS

Disturbance

Contr.

Var.

Control

Action+

n

Measured

Var.SENSOR

DYNAMICS & CONTROL

6

Improved control structures (I)– Virtual sensors

PROCESS

Disturbance

Contr.

Var.

Control

Action

Virtual

Sensor

+

n

Measured

Var.

DYNAMICS & CONTROL

6

Improved control structures (I)– Virtual sensors

PROCESS

Disturbance

Contr.

Var.

Control

Action

Virtual

Sensor

+

n

Measured

Var.

and

the models

Internal variables

Filtered outputs

Estimated disturbances

Any other internal magnitude

DYNAMICS & CONTROL

6

Improved control structures (I)– Virtual sensors

PROCESS

Disturbance

Contr.

Var.

Control

Action

Virtual

Sensor

+

n

Measured

Var.

and

the models

Internal variables

Filtered outputs

Estimated disturbances

Any other internal magnitude

DYNAMICS & CONTROL

6

Improved control structures (I)– Virtual sensors

PROCESS

Disturbance

Contr.

Var.

Control

Action

Virtual

Sensor

+

n

Measured

Var.

and

the models

Reduce the effect of measurement noise

Get a richer information from the plant

Estimate some disturbance

Virtual sensor ≡ Estimator ≡ Observer ≡ Filter

Internal variables

Filtered outputs

Estimated disturbances

Any other internal magnitude

DYNAMICS & CONTROL

6

Improved control structures (I)– Virtual sensors

PROCESS

Disturbance

Contr.

Var.

Control

Action

Virtual

Sensor

+

n

Measured

Var.

and

the models

Reduce the effect of measurement noise

Get a richer information from the plant

Estimate some disturbance

DYNAMICS & CONTROL

7

Improved control structures (II)– Closed-loop Control

PROCESSCONTROL

Disturbance

Controlled V.

Control

Action

Reference

sensor

DYNAMICS & CONTROL

7

Improved control structures (II)– Closed-loop Control

PROCESSCONTROL

Disturbance

Controlled V.

Control

Action

Reference

sensor

PID

DYNAMICS & CONTROL

7

Improved control structures (II)– Closed-loop Control

PROCESSCONTROL

Disturbance

Controlled V.

Control

Action

Reference

sensor

PID

dt

deKdteKeKu d

t

ip 0

PID Improvements:

DYNAMICS & CONTROL

7

Improved control structures (II)– Closed-loop Control

PROCESSCONTROL

Disturbance

Controlled V.

Control

Action

Reference

sensor

PID

dt

deKdteKeKu d

t

ip 0

PID Improvements:

DYNAMICS & CONTROL

7

Improved control structures (II)– Closed-loop Control

PROCESSCONTROL

Disturbance

Controlled V.

Control

Action

Reference

sensor

PID

dt

deKdteKeKu d

t

ip 0

- Filtered derivative

- Output (no input) derivative

PID Improvements:

DYNAMICS & CONTROL

7

Improved control structures (II)– Closed-loop Control

PROCESSCONTROL

Disturbance

Controlled V.

Control

Action

Reference

sensor

PID

dt

deKdteKeKu d

t

ip 0

- Filtered derivative

- Output (no input) derivative

- Limited integration (anti wind-up)

- Reset control

PID Improvements:

DYNAMICS & CONTROL

7

Improved control structures (II)– Closed-loop Control

PROCESSCONTROL

Disturbance

Controlled V.

Control

Action

Reference

sensor

PID

dt

deKdteKeKu d

t

ip 0

- Filtered derivative

- Output (no input) derivative

- Limited integration (anti wind-up)

- Reset control

Master

Complex Control Structures (I)

– Cascade Control

Master

Complex Control Structures (I)

– Cascade Control

Master

Complex Control Structures (I)

– Cascade Control

PID

Master

Complex Control Structures (I)

– Cascade Control

PID

• Make faster the internal Subprocess

• Reduce the effect of the inner disturbance

Master

Complex Control Structures (I)

– Cascade Control

PIDPID

Master

Complex Control Structures (I)

– Cascade Control

PIDPID

• Achieve desired closed-loop behavior

• Reduce the effect disturbances

• Allow for tracking

Master

Complex Control Structures (I)

– Cascade Control

PIDPID

This may be extended to a full set

of variables

Complex Control Structures (II)

– Model Predictive Control

Error: • Current Value

• Past Values

• Future Values

eKu p

k

j

jik

t

i eKudteKu00

;

t

eKu

dt

deKu k

dkd

;

PID

Complex Control Structures (II)

– Model Predictive Control

Complex Control Structures (II)

– Model Predictive Control

Complex Control Structures (III)

– Adaptive Control

PROCESSCONTROL

Disturbance

Controlled

Var.Control

Action

Objetives

sensor

Complex Control Structures (III)

– Adaptive Control

PROCESSCONTROL

Disturbance

Controlled

Var.Control

Action

Objetives

sensor

Model

Identification

Complex Control Structures (III)

– Adaptive Control

PROCESSCONTROL

Disturbance

Controlled

Var.Control

Action

Objetives

sensor

Model

IdentificationC. Parameter

Computation

Complex Control Structures (III)

– Adaptive Control

PROCESSCONTROL

Disturbance

Controlled

Var.Control

Action

Objetives

sensor

Model

IdentificationC. Parameter

Computation

Complex Control Structures (IV)

– Adaptive Control (Model Reference)

PROCESSCONTROL

Disturbance

Controlled

Var.Control

Action

sensor

ref

y

Complex Control Structures (IV)

– Adaptive Control (Model Reference)

PROCESSCONTROL

Disturbance

Controlled

Var.Control

Action

sensor

Model

Reference

ref

y

Complex Control Structures (IV)

– Adaptive Control (Model Reference)

PROCESSCONTROL

Disturbance

Controlled

Var.Control

Action

sensor

Model

Reference

ref

my

y

Complex Control Structures (IV)

– Adaptive Control (Model Reference)

PROCESSCONTROL

Disturbance

Controlled

Var.Control

Action

sensor

Model

Reference

ref

my

y

e

Complex Control Structures (IV)

– Adaptive Control (Model Reference)

PROCESSCONTROL

Disturbance

Controlled

Var.Control

Action

sensor

C. Parameter

Adaptation

Model

Reference

ref

my

y

e

Advanced Control Systems

– Non linear control

– Robust control

– Network-based control

– Intelligent Control

– Coordinated control

– Hierarchical control

–…

DYNAMICS & CONTROL

12

13

DYNAMICS & CONTROL

Complex Control Systems

What have we seen today?

Feasibility of the PID

Multi-loop control

Model Predictive Control

Adaptive Control

…

Simple implementable solutions

Complex computation

14

DYNAMICS & CONTROL

Modules:What is next?

Examples of systems and signals

Models of systems and signals

Controlled systems: properties

Control systems design

Control systems structure

Parameters tuning

Control benefits

Topics to study

Module VI (III)

Control systems

Design

Complex Control systems

DYNAMICS and CONTROL

Presented by

Pedro AlbertosProfessor of Systems Engineering and Control - UPV 15

Thank you!