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Robin DE KEYSER
Ghent University / BELGIUM
Email: rdk@autoctrl.UGent.be
Robin De KEYSER, Ghent University / Belgium, EeSA Department of Electrical energy, Systems & Automation 1
MBPC Strategy
Robin De KEYSER, Ghent University / Belgium, EeSA Department of Electrical energy, Systems & Automation 2
MBPC Principles
2 KEY principles:
• explicit on-line use of a process model
(forecasting)
• optimal control action based on cost-function minimization
(constraints)
ENABLING TECHNOLOGIES:
• modeling and identification
• digital computers
Robin De KEYSER, Ghent University / Belgium, EeSA Department of Electrical energy, Systems & Automation 6
MBPC Methodology
• prediction by means of a Reference
Trajectory
Past Inputs
process model And Outputs
Predicted
Outputs
+
• specification of a reference Model
-
trajectory
Future
• structuring of the future Inputs
(postulated) control law
• definition of a cost function Optimizer
Future Errors
(and constraints)
• calculation of the Cost Constraints
Function
optimizing control scenario
Robin De KEYSER, Ghent University / Belgium, EeSA Department of Electrical energy, Systems & Automation 7
Objective
Find the control vector
Nu =4
u u(t+k/t) {u(t+k / t}, k=0…N2-1}
which minimizes the cost
y(t+k/t) function
N2
Robin De KEYSER, Ghent University / Belgium, EeSA Department of Electrical energy, Systems & Automation 8
EPSAC: Process Model
C(q−1 ) (1 + cq−1 )
C ( q −1 ) −1 =
n(t ) = e(t ) D(q ) (1 + dq−1 )(1 − q−1 )
−1
D (q )
Robin De KEYSER, Ghent University / Belgium, EeSA Department of Electrical energy, Systems & Automation 10
NN Model
1 1
wi1 w11 w1
x(t-1) 12
z1 S
x(t-2) 2
.. w1 1
x(t-3) zi x(t)
u(t-1) .. z 2
n wn
u(t-2) 0
u(t-3) 1 -3 -2 -1 1 2 3 X
wn6
-1
Robin De KEYSER, Ghent University / Belgium, EeSA Department of Electrical energy, Systems & Automation 11
EPSAC : Multistep Predictor
The prediction of the process output
{y(t+k / t), k=1…N2 }is based on:
• measurements available at time t:
{y( t ), y( t-1 ), … , u( t-1 ), u( t-2 ), …}
• future (postulated) values of the input:
{u( t / t ), u( t+1 / t ), …}
P rocess P rocess
u y u y
+ +
x P -M od el y S /P -M o d el
x - n x - n
u u
Robin De KEYSER, Ghent University / Belgium, EeSA Department of Electrical energy, Systems & Automation 13
Prediction n(t+k/t)
D ( q −1 ) C ( q −1 )
n f (t ) = −1 n(t ) n(t) = −1 e(t )
C (q ) D (q )
C(q −1 )
nf (t) = − c1nf (t −1) − c2nf (t − 2) −... n(t + k / t ) = −1 n f ( t + k / t )
D(q )
...+ n(t ) + d1n(t −1) + d2n(t − 2)+...
n f (t + k / t ) ≡ 0, k = 1… N 2 n(t +k / t) =−dn
1 (t +k −1/ t) −d2n(t +k −2/ t)−…
Robin De KEYSER, Ghent University / Belgium, EeSA Department of Electrical energy, Systems & Automation 14
Base/ Optimizing response
y(t + k / t) = ybase(t + k / t) + yoptimize(t + k / t)
• ybase(t+k/t)
-Effect of past control {u(t-1), u(t-2), ... }
-Effect of a basic future control scenario Nu =4
-Effect of future disturbances n(t+k / t) u(t+k/t)
u
• yoptimize(t+k/t)
-Effect of the
optimizing δu(t+k/t)
future control actions ubase(t+k/t)
{δu( t / t ), δu( t + 1 / t ), … δu( t + N u − 1 / t )}
time
Robin De KEYSER, Ghent University / Belgium, EeSA Department of Electrical energy, Systems & Automation 15
y(t+k/t)=ybase(t+k/t)+yoptimize(t+k/t)
Nu =4
u u(t+k/t)
δu(t+k/t)
ubase(t+k/t)
time
Robin De KEYSER, Ghent University / Belgium, EeSA Department of Electrical energy, Systems & Automation 16
Optimizing response
impulse input impulse input
δ u(t/t) δu(t+1/t)
h δ u(t+1/t)
impulse response k-1 impulse response
h δ u(t/t)
k
t t+k t t+k
Y = Y + G. U
hN1 hN1 −1 hN1 −2 ... g N1 − N u +1
Y=[ y(t +N1 /t) y(t +N2 /t)]T h hN1 hN1 −1 ... ...
N1 +1
[ base ] G = ... ...
T
Y= y (t + N1 / t) ybase (t + N2 / t) ... ... ...
U=[δ u(t /t) δ u(t +Nu −1/t)] ... ... ... ... ...
T
hN hN 2 −1 hN 2 −2 ... g N 2 − N u +1
2
Robin De KEYSER, Ghent University / Belgium, EeSA Department of Electrical energy, Systems & Automation 18
Objective
Find the control vector
Nu =4
u u(t+k/t) {u(t+k / t}, k=0…N2-1}
which minimizes the cost
y(t+k/t) function
N2
Robin De KEYSER, Ghent University / Belgium, EeSA Department of Electrical energy, Systems & Automation 19
EPSAC solution
N2
k =N1
U = [G G ] [G T (R − Y )]
∗ T −1
Robin De KEYSER, Ghent University / Belgium, EeSA Department of Electrical energy, Systems & Automation 22
MIMO MBPC - The method
1. N2 could be chosen differently for the 2 outputs
2. Nu could be chosen differently for the 2 outputs
3. y1 forced ( t + k / t ) denotes the forced part in the predicted process output
y1 ( t + k / t ) ,being the effects of both future control actions
∆u1 ( t + k / t ) and ∆u2 ( t + k / t )
4. The coefficients of the step response of input j to the output i are denoted by :
{g ij
1 }
g2ij g3ij ... KEY MBPC EQUATION - MIMO CASE
Y1 = Y1 + G 11 . U 1 + G 12 . U 2
Y2 = Y2 + G 21 . U 1 + G 22 . U 2
Robin De KEYSER, Ghent University / Belgium, EeSA Department of Electrical energy, Systems & Automation 23
MIMO MBPC - Solidary Control
∑1
[ ] Compound matrices:
2
r ( t + k / t ) − y1 ( t + k / t ) +
k = N1 G 1 = [G 11 G 12 ] and G 2 = [G 21 G 22 ]
N2
∑2
[ ]2
r ( t + k / t ) − y 2 ( t + k / t ) +
k = N1 U1
N u −1
Compound vector: U=
∑{ 1
[ ] [ ] } U 2
2 2
λ ∆ u ( t + k / t ) + ∆ u2 ( t + k / t )
k =0
subject to:
∆u1 ( t + k / t ) ≡ 0 and ∆u2 ( t + k / t ) ≡ 0 for k ≥ N u
Robin De KEYSER, Ghent University / Belgium, EeSA Department of Electrical energy, Systems & Automation 24
MIMO MBPC - Solidary Control
V ( U ) = U T HU + 2 f T U + c
[
H = G 1T G 1 + G 2T G 2 + λ I ]
H = G1TG1 + G2TG2 + λ I
f [
=− G T
1 (R1 − Y1 ) + GT
2 (R2 − Y2 ) ] [
f = − G 1T (R 1 − Y1 ) + G T2 (R 2 − Y2 ) ]
c = (R1 − Y1 )T(R1 − Y1 ) + (R2 − Y2 )T(R2 − Y2 )
Robin De KEYSER, Ghent University / Belgium, EeSA Department of Electrical energy, Systems & Automation 25
MIMO MBPC - Selfish Control
This approach is valid if the number of control variables (manipulated process inputs)
is equal to the number of controlled variables (controlled process outputs). The
objective is to:
• Find the control vector U2 • and the control vector U1
which minimizes the cost which minimizes the cost
function: function:
N2 N2
∑ [ r ( t + k / t ) − y ( t + k / t )] ∑ [r (t + k / t ) − y (t + k / t )]
2 2
1 1 + 2 2 +
k = N1 k = N1
N u −1 N u −1
∑ [ ∆u1( t + k / t )] ∑ [∆u2 ( t + k / t )]
2 2
λ λ
k =0 k =0
subject to: ∆ u1 ( t + k / t ) ≡ 0 for k ≥ N u subject to: ∆u2 ( t + k / t ) ≡ 0 for k ≥ N u
Robin De KEYSER, Ghent University / Belgium, EeSA Department of Electrical energy, Systems & Automation 26
MIMO MBPC - Selfish Control
Using the matrix notations the The minimization of V1(U1) w.r.t U1 leads to the
optimal (unconstrained) solution:
first cost function can be written:
(R1 − Y1 )T (R1 − Y1 ) + λ .U 1T U 1 = U 1∗ = − H1−1f1 =
[ ] [ ]
(R 1 − Y1 − G 11 .U 1 − G 12 .U 2 )T * T −1 T
G11G11 +λ I . G 11 (R 1 − Y1 − G 12 U 2 )
(R 1 − Y1 − G 11 .U 1 − G 12 .U 2 ) + λ .U 1T U 1
H1 = G11 T
G11 + λ I U ∗2 = − H 2−1f 2 =
[ ] .[G ]
−1
T
f1 = −G11 (R 1 − Y1 − G12 U 2 ) G T22G 22 +λ I T
22 (R 2 − Y2 − G 21U 1 )
T
c1 = (R 1 − Y1 − G 12 U 2 ) (R 1 − Y1 − G 12 U 2 )
Robin De KEYSER, Ghent University / Belgium, EeSA Department of Electrical energy, Systems & Automation 27
MIMO MBPC - Selfish Control
Combining the 2 expressions
The optimal (unconstrained)
for the optimal solution:
solution is given by:
(G 11
T
G 11 + λ I)U 1 + G 11T T
G 12 U 2 = G 11 (R 1 − Y1 )
T
G 22G 21 U 1 + (G T22G 22 + λ I)U 2 = G T22 (R 2 − Y2 )
U ∗ = − H −1 f
G T G G 11 (R 1 − Y1 ) G 11 (R 1 − Y1 )
T T
11 1 + λ I . U = T
GT G
22 2 G 22 (R 2 − Y2 ) f = − T
G 22 (R 2 − Y2 )
Robin De KEYSER, Ghent University / Belgium, EeSA Department of Electrical energy, Systems & Automation 28
Constraints
Robin De KEYSER, Ghent University / Belgium, EeSA Department of Electrical energy, Systems & Automation 29
Constrained Control
Clipping:
Constrained optimization problem
uj < uj (t) < uj (QP: quadratic programming)
u
w + u u 60
-
PID u
u
50
y
u*2 M
40
Constrained Control: 30
• minimize 20
u2 C O
• subject to AU < b 10 20
u*1 30 40 50 60
Robin De KEYSER, Ghent University / Belgium, EeSA Department of Electrical energy, Systems & Automation 30
Interactive MIMO process (1)
Side
R C F
Center
Wafer
S
Side
Robin De KEYSER, Ghent University / Belgium, EeSA Department of Electrical energy, Systems & Automation 31
Interactive MIMO process (2)
Clipping (solidary EPSAC): Constrained Control (solidary EPSAC):
Robin De KEYSER, Ghent University / Belgium, EeSA Department of Electrical energy, Systems & Automation 32
Interactive MIMO process (3)
Constrained Control (solidary EPSAC): Constrained Control (selfish EPSAC):
Robin De KEYSER, Ghent University / Belgium, EeSA Department of Electrical energy, Systems & Automation 33
Advanced control
C on ve n tion a l m an ua l con trol
C on tr ol P ID con trol
ra tio con trol
ca sca d e con trol
fe ed forw a rd con trol
A d va n c e d g a in sch ed ulin g
C on tr ol: tim e-d ela y c om p en sa tion
c la ssic a l d ec ou p lin g
A d va n c e d p red ictive con trol (M B P C )
C on tr ol: sta tistical qu ality con trol (S Q C )
wid e ly u se d in tern al m od el con trol (IM C )
a d a ptive con trol
A d va n c e d n on lin ear con trol
C on tr ol: op tim al con trol (L Q G )
fe w a p p lic a tio n s ex p ert system s
n eural/fu zz y c on trol
robu st con trol
Robin De KEYSER, Ghent University / Belgium, EeSA Department of Electrical energy, Systems & Automation 34
Why advanced control ?
Requirements:
• flexibility in production
• improved quality control
• environmental restrictions
• energy/raw material saving
• maximize product yield
• avoid process shutdown
• improved moisture control will allow moisture setpoint to be increased (without incurring
a higher risk of excess moisture) THE BEST PRODUCT IS MADE
• this will save energy (steam) BY THE WORST PRODUCER
• it will also enable the paper maker to sell the customer more water (which is cheaper
than selling him fiber)
Robin De KEYSER, Ghent University / Belgium, EeSA Department of Electrical energy, Systems & Automation 36