Lecture 12
Lecture 12
Distillation column
Thus, we notice that loop 1 affects loop 2, but not Stirred tank heater
vice versa.
The stirred tank heater has a one-way interaction
𝑦ത1 s = 𝐻11 𝑠 𝑚
ഥ 1 𝑠 + 𝐻12 𝑠 𝑚
ഥ2 𝑠
𝑦ത2 s = 𝐻21 𝑠 𝑚
ഥ 1 𝑠 + 𝐻22 𝑠 𝑚
ഥ 2 (𝑠)
A MIMO process
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MIMIO control system
To understand the nature of interaction between the two control loops, we will study the effects of
input changes on the outputs when
Assume loop 1 is closed and loop 2 is open. Also, assume m2 is constant and make a change in the set
point y1,SP
H11
Interaction with
H12
H21 one loop closed
H22
Initially, the process is at steady state with both outputs at desired values.
Consider a change in the set point y1,SP only, and keep the set point of loop 2 the same.
The controller of loop 1 will change the value of m1 in such a way to bring the output y1 to the new
set point value.
This is the direct effect of m1 on y1 through loop 1, and is shown by the dashed line.
The control action of m1 will not only attempt to bring y1 to the new set point, but will also disturb y2
from its steady state value.
Then the controller of loop 2 will attempt to compensate for the variations in y2 by changing the
value of the manipulated variable m2.
• Choose the manipulation that has a direct and fast effect on a controlled variable.
• Choose the couplings so that there is a little dead time between every manipulation and the
corresponding controlled variable.
• Select the coupling so that the interaction of the control loops is minimal, etc.
𝑦ത2 s = 𝐻21 𝑠 𝑚
ഥ 1 𝑠 + 𝐻22 𝑠 𝑚
ഥ 2 (𝑠)
Using closed loop controllers, we can have,
𝑚
ഥ 1 s = 𝐺𝐶1 𝑠 [𝑦ത1,𝑆𝑃 𝑠 − 𝑦ത1 s ]
𝑚
ഥ 2 s = 𝐺𝐶2 𝑠 [𝑦ത2,𝑆𝑃 𝑠 − 𝑦ത2 s ]
Using above relationships, we can have,
1 + 𝐻11 𝐺𝑐1 𝑦ത1 + 𝐻12 𝐺𝑐2 𝑦ത2 = 𝐻11 𝐺𝑐1 𝑦ത1,𝑆𝑃 + H12 Gc2 𝑦ത2,𝑆𝑃
𝐻21 𝐺𝑐1 𝑦ത1 + 1 + 𝐻22 𝐺𝑐2 𝑦ത2 = 𝐻21 𝐺𝑐1 𝑦ത1,𝑆𝑃 + H22 Gc2 𝑦ത2,𝑆𝑃
𝐻21 𝐺𝑐1 𝑦ത1 + 1 + 𝐻22 𝐺𝑐2 𝑦ത2 = 𝐻21 𝐺𝑐1 𝑦ത1,𝑆𝑃 + H22 Gc2 𝑦ത2,𝑆𝑃
Where,
𝐻11 𝐺𝐶1 + 𝐺𝑐1 𝐺𝑐2 𝐻11 𝐻22 − 𝐻12 𝐻21 𝐻12 𝐺𝐶2
𝑃11 𝑠 = 𝑃12 𝑠 =
𝑄 𝑠 𝑄 𝑠
𝐻22 𝐺𝐶2 + 𝐺𝑐1 𝐺𝑐2 𝐻11 𝐻22 − 𝐻12 𝐻21 𝐻21 𝐺𝐶1
𝑃22 𝑠 = 𝑃21 𝑠 =
𝑄 𝑠 𝑄 𝑠
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Quantitative analysis of interaction…
𝐻22 𝐺𝐶2 + 𝐺𝑐1 𝐺𝑐2 𝐻11 𝐻22 − 𝐻12 𝐻21 𝐻21 𝐺𝐶1
𝑃22 𝑠 = 𝑃21 𝑠 =
𝑄 𝑠 𝑄 𝑠
• If individual loops are stable, they does not guarantee the overall stability, i.e. when
both loops are closed.
• There can be different ways in which the manipulated variables can be used to control the
controlled process output.
• For a process with N controlled variables and N manipulated variables, there can be N ! ways to
form the loops.
• Relative gain array provides a way to find out the pairs of manipulated variables and controlled
variables, which can be chosen to have minimal interaction between loops.
Δ𝑦1
Δ𝑚1 𝑚2 =𝑐𝑜𝑛𝑠𝑡𝑛𝑎𝑡
Δ𝑦1 ′
Δ𝑚1 𝑦2 =𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡
• If 𝜆11 = 1, then 𝑚2 does not affect 𝑦1 and the control loop between 𝑦1 and 𝑚1 does not interact
with the loop of 𝑦2 and 𝑚2 . In this case we have completely decoupled loops.
• If 0 < 𝜆11 < 1, then an interaction exists and as m2 varies, it affects the steady state values of y1.
The smaller the value of 𝜆11, the larger the interaction becomes.
• If 𝜆11 < 0, then m2 causes a strong effect on y1 and in the opposite direction from that caused by
m1. In this case, the interaction effect is very dangerous for stability of the system.
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Relative gain array and selection of
loops…
In a similar manner, we can also calculate the relative gains for other pairs as well,
Δ𝑦1 /Δ𝑚1 𝑚2
𝜆11 = relative gain between y1 and m1
Δ𝑦1 ′/Δ𝑚1 𝑦2
Δ𝑦1 /Δ𝑚2 𝑚1
𝜆12 = relative gain between y1 and m2
Δ𝑦1 ′/Δ𝑚2 𝑦2
Δ𝑦2 /Δ𝑚1 𝑚2
𝜆21 = relative gain between y2 and m1
Δ𝑦2 ′/Δ𝑚1 𝑦1
Δ𝑦2 /Δ𝑚2 𝑚1
𝜆22 = relative gain between y2 and m2
Δ𝑦2 ′/Δ𝑚2 𝑦1
It can be shown that the sum of the relative gains in any row or column of the array is equal to 1.
If we know one of the four relative gains, the other three can be easily computed
• Relative gains provide a measure of interaction based on steady state considerations. Nothing
is said about dynamic interactions.
• The relative gain array is a square matrix, signifying that the no. of manipulated variables is
equal to number of controlled outputs.
• One can compute the relative gains using two methods: one is a computational approach
based on the mathematical model of the system and the second one is experimental
approach.
• Relative gain array concept is not limited to two-input-two-output systems only. It can be
extended to general processes with more than two controlled variables.
Δ𝑦𝑖 /Δ𝑚𝑗
𝑚
𝜆𝑖𝑗 =
Δ𝑦𝑖 /Δ𝑚𝑗
𝑦
𝑁 𝑁
Select the loops using relative gain array for the following process,
1 1
𝑦ത1 = 𝑚ഥ1 + 𝑚
ഥ2
𝑠+1 0.1𝑠 + 1
−0.2 0.8
𝑦ത2 = 𝑚
ഥ1 + 𝑚
ഥ2
0.5𝑠 + 1 𝑠+1
1 1
𝑦ത1 = 𝑚
ഥ1 + 𝑚
ഥ2
𝑠+1 0.1𝑠 + 1
−0.2 0.8
𝑦ത2 = 𝑚
ഥ + 𝑚
ഥ
0.5𝑠 + 1 1 𝑠 + 1 2
Let us compute the relative gains 𝜆𝑖𝑗 ,
Δ𝑦1 Make a unit step change in m1 (i.e. , 𝑚
ഥ1 =
= ?
Δ𝑚1 𝑚2 =𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡
1/s), and m2 as constant (i.e. 𝑚
ഥ 2 = 0)
1 1 1 1
𝑦ത1 = 𝑚
ഥ 1 ⇒ 𝑦ത1 = . Δ𝑦1 /Δ𝑚1 𝑚2 = =1
𝑠+1 𝑠+1 𝑠 1
1 1
𝑦ത1 = 𝑚
ഥ1 + 𝑚
ഥ2
𝑠+1 0.1𝑠 + 1
−0.2 0.8
𝑦ത2 = 𝑚
ഥ + 𝑚
ഥ
0.5𝑠 + 1 1 𝑠 + 1 2
𝑠+1
𝑚
ഥ 2 = 0.25 𝑚
ഥ
0.5𝑠 + 1 1
Using above equation to find 𝑦ത1 ,
1 1
𝑦ത1 = 𝑚
ഥ1 + 𝑚
ഥ2
𝑠+1 0.1𝑠 + 1
1 1 𝑠+1
𝑦ത1 = 𝑚
ഥ1 + × 0.25 𝑚
ഥ1
⇒ 𝑠+1 0.1𝑠 + 1 0.5𝑠 + 1
1 1 1 𝑠+1 1
Δ𝑦1 = lim[𝑠 𝑦ത1 ] = lim 𝑠 + × 0.25 = 1.25
𝑠→0 𝑠→0 𝑠 + 1 𝑠 0.1𝑠 + 1 0.5𝑠 + 1 𝑠
1.25
Δ𝑦1 = 1.25 ⇒ Δ𝑦1 /Δ𝑚1 𝑦2 = = 1.25
1
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Contd..
Δ𝑦1 /Δ𝑚1 𝑚2 1
𝜆11 = = = 0.8
Δ𝑦1 /Δ𝑚1 𝑦2 1.25
Also,
𝑚1 𝑚2
0.8 0.2 𝑦1
Λ=
0.2 0.8 𝑦2
• For a refinery distillation column, we have four product stream with four flow
rates as manipulated variables. The RGA for this process is shown below.
Recommend pairing of manipulated variables to controlled variables
(compositions, yi).
Hint: Select the control loops by pairing the controlled outputs yi with the
manipulated variables mi in such a way that the relative gains λij are positive and
as close as possible to unity.
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Solution
Figure shown below depicts two interacting tanks with equal areas of 1 m2 with
m1 flowing in tank-1 and m1 flowing in tank-2. Interconnecting pipe and
outflow pipe have resistances R1 and R2, respectively. Both R1 and R2 are
equal to 0.5 sec/m2. Find 𝜆11 and comment upon the possible pairings.
dh1
dt h1 m1
dh h m
2 2 2
dt
dh 1 (h 1 h 2 )
A1 m1
dt R2
dh 2 (h1 h 2 ) h2
A2 m2
dt R1 R2
s 4 2
2
Gp 2
s 2
s 6s 4
1 0.5
𝑆𝑡𝑒𝑎𝑑𝑦 𝑠𝑡𝑎𝑡𝑒 𝑔𝑎𝑖𝑛 𝑚𝑎𝑡𝑟𝑖𝑥 𝑖𝑠 𝐾 =
0.5 0.5
1
𝜆11 = =2
𝐾12 𝐾21
1−
𝐾11 𝐾22
Highly undesirable interactions
2 −1
𝑅𝐺𝐴(Λ) = Need cross controller/decouplers
−1 2