Area

Cientfica de Controlo Automacao e Informatica Industrial

Instituto Superior Tecnico
Technical University of Lisbon

Progress Report
Isaas Tavares

Date:
Subject:
Supervisors:
Project term:
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March 16th, 2012

Title
Jose Borges
January 2012 March 2012

Outcome of the previous meeting

Task 1: Improvement of Simulink implementation of CLLM

Summary of Activities
Predictive Control (result improvement)
In this report two controller perspective was presented as well as the simulation result
achieve using Nuhcc model developed by Nabais. These controller perspective are Model
Based Predictive Controller based on local models from Composite Local Linear Models and
other is Nonlinear Model Based Predictive Controller from nonlinear models namely CLLM,
FM and ANN with Branch and Bound.
Model Based Predictive Controller based on local models from Composite Local Linear
Models.
Table 1: Values of the configuration parameters of the NMBPC for each internal model.
Controller Internal Models
MPC with CLLM
MPC with CLLM

physical limitations
constrained
unconstrained

Hc
1
1

Hp
2
2

n
3
3

umax
0.01 (umax umin )
0.01 (umax umin )

Table 2: Performance of the controller.

Controller Internal Models
MPC with CLLM
MPC with CLLM

Physical limitations
constrained
unconstrained

MSE
1.5959 104
1.5959 104

CPUtime (sec)
178.6086
175.4286

Pi
100
100

Qi
1
1

Progress Report

Isaas Tavares

Nonlinear Model Based Predictive controller from nonlinear models namely CLLM, FM
and ANN with Branch and Bound.
Table 3: Values of the configuration parameters of the NMBPC for each internal model.
Controller
NMBPC with CLLM
NMBPC with CLLM
NMBPC with FM
NMBPC with ANN

physical limitations
constrained
unconstrained
constrained
constrained

Hc
1
1
1
1

Hp
2
2
2
2

n
15
15
3
3

umax
0.01 (umax umin )
0.01 (umax umin )
0.01 (umax umin )
0.01 (umax umin )

Pi
100
100
100
100

Qi
1
1
1
1

Table 4: performance of the controller.

Controller Internal Models
NMBPC with CLLM
NMBPC with CLLM
NMBPC with FM
NMBPC with ANN

Physical limitations
constrained
unconstrained
constrained
constrained

MSE
6.4444 104
4.864 104
0.0021
1.5959 104

CPUtime
201.1563
212.1701
1.1136103
1.7179 105

Unconstrained control actions for NMBPC with FM and ANN are presented here because its result are not good enough. CUPtime is the compute time measured during
simulation and it is not the real time.

Next Weeks Activities

No comments...

Appendix A
Write theoretical concept about controller implemented on water canal system.
Control in Water Canal System
Different control methodologies were also applied to canals systems, Heuristic monovariable methods proposed by rogers1995, originating in hydraulics, this method has
shown some constraints such as being tuned in a full simulation, thus limiting their
use in real time due to its mathematical tool. PID proposed by shand1971, is one of
the most used controllers in canal systems. Based on Linear Multivariable PID controller, many of these controllers are tuned based on the placement of the poles using
SISO transfer functions. Predictive control proposed by sawadogo1992, rodellar1993,
ruiz1998 and pages1998, was implemented based on the minimization of a cost function
J. Fuzzy control proposed by bouillot1994, was implemented in canals systems and
only had good performance in SISO systems. Model inversion proposed by falvey1987,
is based on the inversion of nonlinear models from finite-order, it has problems due
to the inversion of oscillatory diffusive dynamics. In respect to Optimization methods
proposed by sabet1985, if the optimization is nonlinear it will be susceptible to errors
and disturbances, very limited for real-time control. However, this approach has the
advantage when applied to canal systems in that it allows the choice of multivariable

Progress Report

Isaas Tavares

control structures and the proposed decentralized control. Robust control proposed by
schuurmans1997, tested by some authors was designed as a good tool when it is subject
to unknown disturbances and model errors in the presence of nonlinear effects. Nonlinear Control proposed by coron1999, given as one of the most difficult approaches from a
theoretical point of view, but presents many advantages in controlling nonlinear effects.
Further contributions are presented in [?].
The MPC can efficiently manage multiple systems when constraints are taken into
account, brouwer. The predictive controller was used by Begovich1997, to control the
water level downstream of canals. To specify the reference, he used simple linear models
identified by data-driven identification tools.

Appendix B
Write theoretical concept about nonlinear model based predictive controller.
Predictive Controller
No more comment. . .

References