Buletinul Stiintific al Universitatii Politehnica din Timisoara, ROMANIA

Seria AUTOMATIA si A!U!ATOAR"

P"RIO#IA PO!IT"$NIA, Transactions on AUTOMATI ONTRO! and OMPUT"R SI"N"
%ol&'( )*+,, -..', ISSN /--'0*..1
Internal Model Control Structures Using Delta
Domain Representation
2su3sa Preitl
)/,
, Ruth Bars
)/,-,
, Ro4ert $a4er
)+,
)/,
Politehnica Universit5 of Timisoara, #e6artment of Automation and Ind& Inf&
Bd& %& Parvan -, RO0/(.. Timisoara, Romania
)-,
#e6artment of Automation and A66lied Informatics, Buda6est Universit5 of Technolo75 and "conomics,
MTA0BM" ontrol Research 8rou6
$0////, Buda6est, 8oldmann 85& t9r +&, $un7ar5: fa; < =+*0/0'*+0->?/
e0mail < 6reitl@avalon&aut&4me&hu, 4ars@aut&4me&hu, ro4ert&ha4er@fh0Aoeln&de
(3)
#e6artment of Plant and Process "n7ineerin7, Universit5 of A66lied Science olo7ne, 8erman5
Abstract In case of sampled data, the shift operator
representation is very sensitive in parameters for fast
sampling. In this case delta models are advantageous.
Controlling plants with long dead-time, the delta
representation of dead-time deteriorates its superiority.
The paper introduces a hybrid handling of control
algorithms using IMC Internal Model Control!
structure, handling the dead-time in "-domain and the
model dynamics in delta domain. The hybrid algorithms
are given for dead-beat control and for #mith-predictor
control.
$eywords% delta models, IMC structure, dead-beat
control, #mith predictor.
I& INTRO#UTION
#urin7 the 6ast 5ears, as the technolo75 advanced in s6eed
and 6erformance, fast sam6lin7 and its 6ro4lems have
4ecome more and more actual& Sam6led s5stems 7enerall5
are re6resented in shift o6erator form, Bhich has some
disadvanta7es at fast sam6lin7< loss of information ma5
occur 4ecause of finite Bord len7th and arithmetical
o6erations C/D& One 6ossi4ilit5 to overcome this draB4acA
is to use delta o6erator re6resentation Bhen im6lementin7
the controller C-D&
The delta o6erator can 4e defined as folloBs )it Bas
introduced in this form 45 C>D,<

h
q /
= or
h
z /
= )/,
Bhere h is the sam6lin7 6eriod, q and q
-1
are the forBard
and 4acABard shift o6erator in time domain, and 3
0/
is the
associated com6le; varia4le& It can 4e noticed that if the
sam6lin7 6eriod tends to 3ero h0,the continuous
derivative of the function is o4tained<
, ) , ) lim
.
t x
dt
d
t x
h
=

)-,
Also if the delta transformation is a66lied to a 7iven x(t)
continuous function, the first order difference results<
h
kh x h kh x
h
x x
x
k k
k
, ) , )
/
+
=

=
+
)+,
One of the main advanta7es of the delta re6resentation lies
in the im6lementation of a transfer function, Bhich should
4e 4ased on feed4acA of the inte7rators re6resented in delta
form )see Ei7& /,& The values of the 6arameters are the
coefficients of the delta transfer function )t&f&, re6resented
as folloBs<
. /
. /
, )
a a a
b b b
H
n
n
n
n
+ +
+ + +
=

(4)
The delta t&f& can 4e o4tained either from the 6ulse transfer
function a66l5in7 eFuation )/, or from the continuous
transfer function usin7 the folloBin7 relation<
,GD )
/
H C
/
, )
/
s H
s
L T
h
H

+
=

, )I,
Bhere T is called the 7enerali3ed o6erational transform in
C+D& The 6arameters of the delta t&f& a66roach the
6arameters of the continuous t&f& for small sam6lin7 times&
u(t)
n
/ 0 n
a
a
0

/
n
a
/
a
0
n
/ 0 n
a
a
0
n
a
/

/
n
. n
.
a
a 4
4
n
/ n
/
a
a 4
4
n
/ 0 n n
/ 0 n
a
a 4
4
n
n
a
4
y(t)
/
%II International SAUM onference
on S5stems, Automatic ontrol and measurements
%rnJachAa BanJa, Se6tem4er -*0->, -../
Ei7& /& Im6lementation of delta transfer functions
ontroller desi7n can 4e 6erformed in different Ba5s< since
for small sam6lin7 times the delta model is ver5 close to
the continuous time model, one advanta7eous a66roach is
to desi7n the controller in continuous time and to
im6lement it in delta domain C-D,C'D& Another a66roach is
4ased on desi7nin7 the delta controller directl5 to the delta
model of the 6lant Bhich must 4e o4tained in advance&
II& ONTRO!!"R #"SI8N
A. IMC-based Dead-Beat Controller for ro!esses "#th
Dead-t#$e
The control structure Bhich deals Bith dead0time
com6ensation let 4e as shoBn in Ei7& -, 2O$ denotes 3ero
order hold and the controller, $R)K,, contains the
cancella4le 6art of the 6lant )A)K,LB
=
)K,,&
In this case the controller 6art A)K,LB
=
)K, is in discrete time
)4oth z- domain re6resentation or delta domain
re6resentation,& The limitation is included in the Internal
Model ontrol )IM, structure, this Ba5 insurin7 a 4etter
handlin7 of limitation& It is AnoBn that in case of IM
control if the 6lant is o6en0loo6 sta4le )CID,C*D,C?D,, the
controller can 4e desi7ned as the 4est a66ro;imation of the
inverse of the 6lant model& If there is 6erfect modellin7,
that is no mismatch 4etBeen the 6lant and model, the
control is actuall5 o6en0loo6& If there is mismatch, the
feed4acA si7nal BorAs a7ainst it&
Use of delta transformation is advanta7eous for fast
sam6lin7 rates C*D& In the case Bhen relative dead0time
d%TH &h is Fuite 4i7, delta form looses the essence of this
advanta7e as
d
h

+ , / ) term includes a7ain ver5 small
coefficient values& Therefore a h54rid z0delta control
structure has 4een 6ro6osed C>D, as shoBn in Ei7& +&
The main idea is that the 6lantMs model and inverse model
Bill 4e re6resented in delta form, Bhile the dead0time Bill
4e e;6ressed in z0domain, com4inin7 the advanta7es of
4oth delta 6arametri3ation )loBer sensitivit5 to 6arameter
mismatch, and z0domain re6resentation of the dead0time&
$ence the controller can 4e ada6ted to different values of
the dead0time 45 sim6l5 adJustin7 the value of d in the
model& Thus the controller is ver5 sensitive to mismatch in
the dead0time&
r u
y
ZOH
_
y
d
$
sT
e P)s,

n
3 B
A

+
$
sT
e
A
B

e
Ei7& -& #ead0time com6ensation
y
d
, )
, ) , )

A
B B
+
d
z

H
sT
C
C
e
s A
s B

, )
, )
n
h B
A
, / )
/
, )
, )
+

r
e
u
y
y
^
Ei7& +& $54rid dead0time com6ensatin7 structure
Eor 4etter e;6lanation let the t&f& of a continuous 6lant 4e<

H
sT
C
C

e
s A
s B
s H

=
, )
, )
, )
)*,
Sam6lin7 it Bith a 2O$ usin7 a sam6lin7 time h the
discrete t&f& is o4tained

d
D
D

z
z A
z B
z H

=
, )
, )
, )
Bhere d%TH &h.
)?,
The corres6ondin7 delta t&f&, H(')( results in form of<

d

h A
B
H
, / )
/
, )
, )
, )
+
=

)>,
The numerator of the 6lant can 4e decom6osed into B
)
and
B
*
( B
)
containin7 the cancella4le and B
*
the unsta4le and
6oorl5 dam6ed 3eros<
, ) , ) , )
+
= B B B )(,
Needin7 to fulfill the reFuirement of 3ero stead50state error,
the folloBin7 has to 4e insured<
/ , . ) =

B )/.,
Eor the desi7n of a dead04eat controller )#B0controller, in
delta domain the closed loo6 t&f& Hr(') must 4e im6osed the
form )//,<
n d
C
C
r
h h
B
H H
H H
H
, / )
/
, / )
/
, )
/
, )
+

+
=
+

=



)//,
Bhere n is< , de7) /

+ = B n
)/-,
To illustrate the form of the controller, the 6ure delta
re6resentation is 7iven<
D , / C)
, / )
, )
+ +
+
+
=
B h B
h A
H
n d
d
C

)/+,
As far as the h54rid re6resentation is concerned, the model
Bill have the folloBin7 structure<
-
%II International SAUM onference
on S5stems, Automatic ontrol and measurements
%rnJachAa BanJa, Se6tem4er -*0->, -../
, )
, ) , )

A
B B
+
d
z

u y
^
Model
Ei7&'& Internal h54rid model of the 6lant
The controller 6art then results as )Ei7&+,<
n
C
h B
A
H
, / )
/
, )
, )
, )
+
=
+

)/',
To e;em6lif5 the 6rocedure, let a second order 6lant 4e
considered in continuous form<
H
sT
+ +
C

e
s T s T
A
s H

+ +
=
, / ,) / )
, )
- /

)/I,
The delta transfer function o4tained throu7h sam6lin7
results in<

d

h T T
A H
, / )
/
, / ,) / )
/
, )
- /
+

+ +
+
=

)/*,
The controller is o4tained 4ased on the a4ove
considerations&
As a numerical e;am6le, let the t&f& of the 6lant Bith a dead
time TH % ,.1 4e )/?,& $avin7 a sam6lin7 6eriod of h%,.,-(
it leads to a discrete dead time of d%.&

s

e
s s
s H
/ & .
, / ++ & . ,) / *? & . )
/
, )

+ +
=
)/?,
Accordin7 to )I, the delta t&f& Bill 4e<
-
, / .I & . )
/
, / +II* & . ,) / *(I+ & . )
/ .-I( & .
, )
+

+ +
+
=

H
)/>,
The numerator must 4e se6arated as folloBs<
/ , ) =
+
B and ) , .&.-I( / B

= + )/(,
The controller, as 6art of the h54rid architecture, results as<

-
, / .I & . )
, / +II* & . ,) / *(I+ & . )
, )
+
+ +
=

C
H
)-.,
The model )see Ei7s& + and ', Bill 4e calculated&
If there are no limitations im6osed, the 4ehaviour of the
s5stem in this case is de6icted in Ei7& I&
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
0
0.5
1
1.5
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
-100
-50
0
50
100
Ei7& I& #ead04eat 4ehaviour Bithout limitations
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
0
0.2
0.4
0.6
0.8
1
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
-10
-5
0
5
10
Ei7& *& #ead04eat desi7n Bith limitations
If restrictions in the command si7nal are im6osed, for
e;am6le /$ax%1, and /$#n%-1,, the folloBin7 4ehaviour
from Ei7& * is o4tained&
!et us consider a lon7er dead0time, for e;am6le TH%,.0
Bhich results in d%1& The res6onse of the s5stem is
de6icted in Ei7& ?&
In order to 7ive an illustrative com6arison 4etBeen h54rid
z0delta domain control structure and 6ure z0domain
re6resentation controller, let 4e considered the eFuivalent z0
domain controller for continuous t&f& )/?,, usin7 the same
sam6lin7 time h%,.,-. The 6ulse transfer function of the
6lant Bill 4e<

- -
/
?(?**.'> & . ?>?'('I & /
..'>*'*? & . ..I-'II & .
, )
z z z
z
z H

+
+
=
)-/,
The dead04eat controller in this case Bill 4e<
+
%II International SAUM onference
on S5stems, Automatic ontrol and measurements
%rnJachAa BanJa, Se6tem4er -*0->, -../
-
-
././ & .
?(?* & . ?>?I & /
, )
z
z z
z H
C
+
= )--,
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
0
0.5
1
1.5
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
-100
-50
0
50
100
Ei7& ?& #ead04eat res6onse for 4i77er dead0time
The controller re6resents the eFuivalent controller from the
IM structure in delta domain& A66l5in7 unit ste6 as
reference si7nal, it can 4e seen that there are no si7nificant
chan7es in the s5stem res6onses, and in 4oth cases the
control si7nal has a Fuite hi7h value )Ei7& >,&
In order to shoB the advanta7e of delta re6resentation as
far as sensitivit5 to model06lant mismatch is concerned, let
the folloBin7 e;6eriment 4e 6erformed< the coefficients of
the esta4lished model Bill 4e 7iven Bith three di7its
accurac5& This Ba5, 4oth delta0 and z0domain controller
Bill 4ecome<
- -
-
, / .I & . )
, / +II & . ,) / *(' & . )
, / .I & . )
/ .I & / -'? & .
, )
+
+ +
=
+
+ +
=

C
H
)-+,
and
-
-
././ & .
?(? & . ?>? & /
, )
z
z z
z H
C
+
=
)-',
Ideall5 there is no 6lant0model mismatch and also no
distur4ances, so the control is o6en0loo6& In case if there
are still no distur4ances, 4ut there is 6lant0model mismatch,
that is the 6lant model is 7iven Bith three di7its accurac5 as
mentioned a4ove, let the o6en loo6 4ehaviours 4e
com6ared in Ei7& ( )line< delta re6resentation, dot0line< z0
domain re6resentation,&
om6arin7 the out6uts it can 4e noticed that the z-domain
re6resentation is more sensitive to 6arameter mismatch,
reflected in the static error&
If closed0loo6 control is 6erformed usin7 the a4ove
6resented IM structrue, the static error disa66eares due to
the inte7rator introduced 45 the structure itself )see Ei7&
/.,& om6arin7 the results, it can 4e seen that the 6ure z0
domain structure )dot0line, is more sensitive to 6arameter
mismatch than the h54rid structure )line,&
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
0
0.5
1
1.5
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
-100
-50
0
50
100
Ei7& >& #ead04eat res6onses for 4oth z0domain and h54rid re6resentation
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
0
0.2
0.4
0.6
0.8
1
1.2
1.4
Ei7& (& O6en loo6 4ehaviour for z0domain and h54rid structures
B. IMC-based +$#th-2red#!tor for ro!esses "#th Dead-
t#$e
In this case first the controller C is desi7ned and in
accordance to this the Smith06redictor is calculated,
folloBed 45 the verification of the s5stem 4ehaviour& The
4asic idea in desi7nin7 a Smith06redictor is reflected in Ei7&
//, Bhere the dead0time is virtuall5 e;cluded from the
closed loo6, and the controller that is desi7ned accordin7l5
Bill 4e finall5 converted to the Smith 6redictor )desi7n
e;em6lified in z0domain,<
, / ) /
d
ID
ID
+M
z C
C
C

+
=
)-I,
Trans6osed to the h54rid z0delta domain IM structure
re6resentation, the difference to the #B control scheme is
de6icted in Ei7& /-& In this case controller has the
folloBin7 e;6ression )delta domain re6resentation,<
, ) , ) , ) /
, )
, )

A B C
C
C
ID
ID
+
=
)-*,
PI# denotin7 the PI# controller desi7ned accordin7 to Ei7&
//&
'
%II International SAUM onference
on S5stems, Automatic ontrol and measurements
%rnJachAa BanJa, Se6tem4er -*0->, -../
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
0
0.2
0.4
0.6
0.8
1
1.2
1.4
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
-100
-50
0
50
100
150
Ei7& /.& IM structure in for 4oth z0domain and h54rid im6lementation in
case of three di7its accurac5 of the model
r
y
_
y
d
d
3 P)3,

)3,
SM
r
y
_
y
d
P)3, )3,
PI#
0d
3
Ei7& //& Theoretical transformation of dead0time com6ensation scheme
The dead0time is re6resented in z0domain and it can 4e
easil5 ada6ted to the dead0time of the 6lant )as in the case
of the #B desi7n,&
To e;em6lif5 the 6rocedure, let the same transfer function
4e anal5sed, Bhich is descri4ed Bith eFuation )/?, and has
its delta transfer function )/>,& The PI# controller is
desi7ned to the 6lant model Bithout dead0time, usin7 6ole
cancellation and im6osin7 a 6hase mar7in of NmO*.P&
The delta transfer function of a PI# controller is<

I
C
C
f
D I
I
C
ID C
T
3
k "#th
T
T T
T
3
H =
+
+ +
=

/
, / ,) / )
, )

)-?,
Bhere if a66l5in7 the 6ole cancellation techniFue then TI %
T1 and TD % T. and kC can 4e calculated im6osin7 the
desired 6hase mar7in& T1 and T. are the 4i77est tBo time
constants of the 6lant& Tf Bill 4e chosen in order to maAe
the s5stem FuicAer, 4ut Aee6in7 in vieB the limitations in
the control si7nal )in this case Tf%T.&4 Bas chosen,&
The numerical vaues of the PI# controller Bill 4e<
, / .>>( & . )
*&I**- *&(..? /&*-+?
,
-
+
+ +
=

(' H
ID C
)->,
The controller from the IM structure )see Ei7& /-, Bill 4e
in this case<
>I'* & ?+ /*+I /+
?+&>I'* ??&*/*( />&-*-+
,
-
-
' . '
(' H
C
+ +
+ +
=

)-(,
In case there is 6erfect match 4etBeen 6lant and the model,
the control is actuall5 o6en loo6, its res6onse to unit ste6
in6ut 4ein7 shoBn in Ei7& /+&
r u
y
ZOH
_
y
d
H
sT
e (s)

, ) C
, )
, ) , )

A
B B
+
d
z

Ei7& /-& $54rid z0delta domain Smith06redictor usin7 IM structre

0 0.5 1 1.5
0
0.5
1
1.5
0 0.5 1 1.5
-5
0
5
10
15
20
Ei7& /+& #ead0time com6ensation usin7 PI# controller
In this case the overshoot is Fuite little, and the control
si7nal does not have such a hi7h value as at #B control )of
course, settlin7 time is much 4i77er,&
If there are limitations in the control si7nal, for e;am6le
/$ax%1,, /$#n%-1,, the 4ehaviour of the s5stem is reflected
in Ei7& /'&
In case of Smith 6redictor al7orithm also an illustrative
sensitivit5 anal5sis can 4e 6erformed& If there is no
mismatch and the model 6arameters are 7iven Bith a ver5
hi7h accurac5, the 4ehaviours in z and delta domain are
mainl5 the same& If the model 6arameters are 7iven Bith
I
%II International SAUM onference
on S5stems, Automatic ontrol and measurements
%rnJachAa BanJa, Se6tem4er -*0->, -../
three di7its accurac5 )see )+., and )+/,, and the controllers
are calculated accordin7l5, the5 result in form of )+-, and
)++,, res6ectivel5&

'&.' '&-I
'&.' .&/.I
, Q
-
+ +
+
=

(' H
)+.,
and
.&?(> 3 /&?( 0 3
.&..'( 3 .&..I+
, Q
-
+
+
= (z H

)+/,
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
0
0.2
0.4
0.6
0.8
1
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
-5
0
5
10
Ei7& /'& #ead0time com6ensation usin7 PI# controller and limitin7 the
control si7nal
The controllers are<

?'&.'-- /+&/>+.
?'&.'-- ??&>(.( />&+-?+
, Q
-
-
+ +
+ +
=


(' H
C
)+-,
and
.&I-'/ 3 /&++?( 0 3
/'&?..+ 3 +-&(?'+ 0 3 />&'-/'
, Q
-
-
+
+
= (z H
C
)++,
Simulatin7 the 4ehaviour of the tBo s5stems first in o6en
loo6, it can 4e noticed that there is a 4i7 difference 4etBeen
them )Ei7& /I,< the z0domain re6resentation )dot0line, is
Borse than the h54rid z0delta domain )solid line,&
As e;6ected, the closed loo6 4ehaviour eliminates the
stead50state error )Ei7& /*,&
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
0
0.2
0.4
0.6
0.8
1
1.2
1.4
Ei7& /I& O6en loo6 4ehaviour in case of 6lant0model mismatch
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
0
0.5
1
1.5
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
-5
0
5
10
15
20
Ei7& /I& losed loo6 4ehaviour in case of 6lant0model mismatch
III& ON!USIONS
In case of sam6led data, the shift o6erator re6resentation is
ver5 sensitive in 6arameters for fast sam6lin7& In this case
delta models are advanta7eous& ontrollin7 6lants Bith
lon7 dead0time, the delta re6resentation of dead0time
deteriorates its su6eriorit5& The 6a6er introduces a h54rid
handlin7 of control al7orithms usin7 IM structure,
handlin7 the dead0time in z-domain and the model
d5namics in delta domain& The h54rid al7orithms are 7iven
for dead04eat control and for Smith06redictor control&
Simulations shoBin7 the 4etter 6erformance of the h54rid
form 4oth for dead04eat and Smith 6redictor controls for
6arameter mismatch are 6erformed& The effect of control
si7nal limitation is also shoBn&
ARNOS!"#8M"NTS
The authorsM BorA from BUT" Bas su66orted 45 the fund
of the $un7arian Academ5 of Sciences for control research
and 6artl5 45 the OTRA fund T.'-?'/& The research Bas
also su66orted 45 the 4ilateral "U0Socrates0"rasmus
coo6eration 4etBeen the tBo universities& All su66orts are
Aindl5 acAnoBled7ed&
*
%II International SAUM onference
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