Professional Documents
Culture Documents
2, 2015 179
Abstract: The quadruple-tank process has been proposed as a benchmark for multivariable
control system design. This paper addresses the design in the bond-graph domain of a robust
controller having the volumetric flows of two pumps as manipulated variables and the level of
the two lower tanks as the regulated outputs. The basic control objectives are expressed in terms
of desired closed-loop energy and power-dissipation functions and captured in the bond-graph
domain by means of a so-called target bond-graph. A basic controller design performed via
bond-graph prototyping yields a primary control law which is further robustified against
parameter uncertainties, measurement deviations and faults using the diagnostic bond-graph
concept. This results in an additional closed-loop consisting of a PI-law which is represented by a
physically meaningful bond-graph subsystem. The design methodology is first developed on a
simpler two-tank SISO-control problem and then straightforwardly extended to the multivariable
problem with the help of some causal manipulations on the four-tank bond-graph model.
Reference to this paper should be made as follows: Nacusse, M.A. and Junco, S.J. (2015)
‘Bond-graph-based controller design for the quadruple-tank process’, Int. J. Simulation and
Process Modelling, Vol. 10, No. 2, pp.179–191.
Biographical notes: Matías A. Nacusse received his degree in Electronic Engineering from the
Universidad Nacional de Rosario (UNR), Argentina, in 2007. Since April 2008 he has been a
PhD student in Electronic Engineering and Control at the Faculty of Engineering (FCEIA) of
UNR under the supervision of Prof. S. Junco and Prof. M. Romero. His work is supported by The
Argentine National Council of Scientific and Technical Research (CONICET). He was a
Teaching Assistant in two undergraduate courses, one on system dynamics and control and the
other on control of electrical drives, both at FCEIA-UNR. His main research interests are on
bond graphs, fault tolerant control and nonlinear control.
Sergio J. Junco received his Electrical Engineering degree from the Universidad Nacional de
Rosario (UNR), Argentina, in 1976. From 1976 to 1979, he worked as an Automation-Project
Engineer at Acindar, a large private steel company in Argentina. From 1979 to 1981, he was at
the Institute of Automatic Control of the University of Hannover, Germany, with a scholarship
from DAAD (the German Academic-Exchange Service). In September 1982, he joined UNR,
where he currently is a Full Professor at the recently created Department of Control. He teaches
courses on modelling and simulation of dynamical systems and control of electrical drives. He
has held several invited positions at research labs and universities in Spain and France. He is a
member of AADECA, IEEE and IFAC (individual member). His current research interests are in
theoretical and application problems in modelling, simulation, control and diagnosis of dynamic
systems.
This paper is a revised and expanded version of a paper entitled ‘Bond-graph-based controller
design of a two-input two-output four-tank system’ presented at the IMAACA 2013 Conference,
Athens Greece, 25–27 September 2013.
P1 = ⎣
The quadruple-tank system depicted in Figure 1 is a TITO a12
nonlinear plant consisting of four interconnected water 2
⎡(1 − γ2 ) u2 + u1γ1 ⎤⎦
tanks fed by two pumps, whose linearised model has a P2 = ⎣
multivariable zero, which can be made minimum or a 22
2
non-minimum phase by simply changing the position of ⎡(1 − γ1 ) a 2 P2 − γ1a1 P1 ⎤ γ22 (2)
two-distribution valves. In this section, the zero dynamics is P3 = ⎣ 2
⎦
explored directly in the nonlinear model on the BG domain ⎡⎣1 − ( γ1 + γ2 ) ⎤⎦ a32
using the methodology developed in Junco (2000). 2
⎡(1 − γ2 ) a1 P1 − γ2 a 2 P2 ⎤ γ12
P4 = ⎣ ⎦
The BG model of the four-tank system is depicted in
Figure 2 where the system outputs, i.e., the pressures of the 2
⎣⎡1 − ( γ1 + γ2 ) ⎦⎤ a4
2
two-bottom tanks, are indicated with arrows and denoted as
{y1, y2}.
Figure 2 BG model of the four-tank system
The state equations can be read from the BG of Figure 2
using the standard procedure, giving as state variables the
stored liquid volumes. Here, the gauge pressures at the
bottom of the tanks are chosen as state variables and their
dynamics presented in (1):
a P a P (1 − γ1 )
P1 = − 1 1 + 3 3 + u1
C1 C1 C1
a P a P (1 − γ2 )
P2 = − 2 2 + 4 4 + u2
C2 C2 C2
(1)
a P γ
P3 = − 3 3 = 2 u2
C3 C3
a P γ
P4 = − 4 4 + 1 u1
C4 C4 To analyse the zero dynamics of the four-tank system in the
BG domain requires to identify the input-output causal
where with i = 1, 2, 3, 4, Pi represents the gauge pressure at paths of minimum length as done in Figure 2 in dashed
the bottom of Tank_i; Ci are the tanks hydraulic capacities lines, then to invert the causality on these paths as done in
and ai are coefficients depending on the cross sections of the Figure 3 using the bi-causality assignment and, finally,
outlet holes of the tanks. imposing a zero signal at the outputs variables and
propagating this imposition up to the system inputs through
Figure 1 Four-tank system with measurements encircled in red the inverted causal paths. For more details of this procedure
(see online version for colours)
see Junco (2000). Applying it in Figure 3 yields the
necessary inputs to maintain y1 = 0 and y2 = 0 according to
(3). A new BG model can be constructed for the constrained
inputs in order to illustrate the relationships between the
remaining variables, i.e., the zero dynamics, as done in
Figure 4. This figure, which is just the first step towards
the zero-dynamics bond-graph, shows the C elements
representing the two upper tanks in derivative causality in
order to put in evidence an algebraic loop closed through
the MSf’s which is convenient for further manipulation of
the BG. The second step, the elimination of the algebraic
loops, yields Figure 5, which shows the appearance of new
R elements. Finally, in order to get a better insight into the
whole dynamics, this bond-graph is converted into an
equivalent vector BG with the following manipulations: the
single-port capacitors, resistors and modulated flow sources
are respectively grouped into the C-, R- and MSf-fields
depicted in Figure 6. The constitutive relationships of these
fields are detailed in (4).
The equilibrium points of the four-tank system must satisfy
the constraints (2). This restriction on the tank state
variables limits the regulation problem up to two tank
pressures (or levels).
182 M.A. Nacusse and S.J. Junco
Figure 3 IO-causality inverted BG with (zero) outputs as inputs 3 Background and previous results
This section briefly summarises the main ideas on
performing energy shaping and damping assignment
directly in the BG domain through BG prototyping and
recalls their application to solve a control problem on a
two-tank system as presented in Nacusse and Junco (2011).
This result will be reinterpreted, by performing a causal
manipulation, as a prelude to the development of the main
result in this paper, the design of a controller for the
quadruple-tank benchmark process.
prototyped sources with the help of the causal assignment in Figure 8 TBG for pressure control of lower tank
the VBG. This method is exemplarily performed below on a
two-tank system. For more details refer to Junco (2004).
a P a P (1 − γ )
P1 = − 1 1 + 2 2 + u
C1 C1 C1
(5)
a P γ
P2 = − 2 2 + u
C2 C2
where with i = 1, 2, Pi represents the gauge pressure at the
bottom of Tank_i; Ci are the tanks hydraulic capacities and Using the standard causality reading procedure the control
ai are coefficients depending on the cross sections of the law (8) can be read directly from the VBG:
outlet holes of the tanks.
⎛ 1 ⎞⎡
The proposed TBG for the closed-loop system is shown u=⎜ ⎟ ⎢ a1 P1 − a2 P2 −
1
( P1 − P1ref ) + C1 P1ref ⎥⎤ (8)
in Figure 8 where the desired stored energy (V) and power ⎝1− γ ⎠ ⎣ RH ⎦
dissipation (V ) are expressed in terms of the regulation
Assuming exact model knowledge and perfect
error state variable (Pe) in (6) and (7).
measurements, this control law yields a closed-loop
184 M.A. Nacusse and S.J. Junco
behaviour equivalent to the TBG of Figure 5, i.e., the Furthermore, as the control objectives are placed only on
closed-loop dynamics satisfies (7). Tank_1, for control system design purposes the equivalent
plant model shown in Figure 12 can be considered, where
Remark: the rated control law (8) performs a partial energy
the effect of Tank_2 enters as a disturbance.
shaping and damping assignment, since only the dynamics
of Tank_1 is captured in the TBG. As no objectives are Figure 12 Equivalent BG for control system design
imposed on Tank_2 and its dynamics is hidden in
closed-loop, its stability must be analysed after the
controller has been designed, property that can be easily
verified in this case.
The control law (9) can be read directly from the VBG
using the standard causality reading procedure:
1
u = a1 P1 − ( P1 − P1ref ) + C1 P1ref + C2 P2 (9)
RH
Remark: Equations (8) and (9) are fully equivalent and both
show the need to measure not only the pressure of Tank_1
but also that of Tank_2 to implement the control law u.
However, equation (9) – which results from the above
manipulation performed on the BG – has the advantage of
Figure 11 Equivalent plant model after manipulation of the showing that its last term can be eliminated from the control
original BG (see online version for colours) law as it is an evanescent perturbation, i.e., it vanishes in
steady state, and as such it does not affect the equilibrium
point. Moreover, as the autonomous system shown in
Figure 12 is LTI, then the non-autonomous system with
evanescent perturbation is exponentially stable.
Doing so yields the control law (10) which can be
implemented with the sole measurement of P1. However, it
must be realised that this simplification amounts to
modifying the TBG as indicated in Figure 14.
1
u = a1 P1 − ( P1 − P1ref ) + C1 P1ref (10)
RH
Bond-graph-based controller design for the quadruple-tank process 185
Figure 14 New TBG without measuring x2 and the ideally expected closed-loop dynamics, i.e., when
res = 0, Pe responds as previously defined in the TBG of
Figure 8. This suggests that the control objectives could be
reached extending the previously computed control law to a
new one u = u ( P1 , P1ref , res ) incorporating the residual
signal in such a way that res tends to zero with growing
time.
+ Kres = δu
res (16)
Thus, with constant δu, res goes asymptotically to zero with
time constant 1/K. As already anticipated, this forces Pe to
Under this situation the closed-loop dynamics no longer approach asymptotically the desired error dynamics defined
satisfies (7) but (12). in the TBG of Figure 8.
Departing from Figure 17, Figure 18 shows the word BG of Figure 20 Power coupling between the PTBG and the mDBG
a power interconnection proposed as a means to provide the
additional control action. There, the word BG block
named mDBG must be capable of rejecting all of the
above-mentioned disturbances.
∫
and QI := K / RH Pe , the volumetric flows of the R and the equilibrium point. The equilibrium point (18) can be
calculated from the BG model by simply making zero the
I elements, respectively. Figure 20 shows the resulting incoming power variables of the storage elements in integral
closed-loop BG with power coupling between the PTBG causality and reading through the causal paths and the
and the mDBG, where R1 = 1/KC1 and I1 = RH⁄K. constitutive relationships of the elements. The reader must
refer to Breedveld (1984) or Junco (1993) for a detailed
Bond-graph-based controller design for the quadruple-tank process 187
description of an algorithm to obtain the equilibrium point The signals entering the upper tank and the
in a BG domain. PTBG-mDBG submodels through the MSf’s in the BG of
2
Figure 24 can be interpreted as vanishing perturbations.
⎛a γ⎞ Hence, the stability analysis can be first performed
P2 = ⎜ 1 ⎟ P1ref
⎝ a2 ⎠ disregarding the MSf, see Figure 25, and then extended to
Pe = 0 (18) the perturbed system since the origin of the incremental CL
model is asymptotically stable and the disturbances, i.e.,
QI = δu Pe / RH + C1 P1ref and C2 P2 , are bounded. The stability of
Instead of the BG of Figure 23, with equilibrium point at the autonomous system is easily verified by following the
(18), an equivalent incremental BG model can be propositions stated in Junco (2001), as the total energy in
constructed with equilibrium point at zero, where the the storages is a positive definite function of the state
systems relationships hold but for all the variables referred (energy) variables, thus being a candidate Lyapunov
to their equilibrium values. This incremental BG model is function, and, moreover, each R element is strictly
shown in Figure 24, where the incremental variables are dissipative, has it causality imposed by only one storage
defined as: ΔP2 = P2 − P2 , ΔPe = Pe − Pe and ΔQI = QI − QI . element in integral causality, and all storages impose
causality on a R-element, what means that the orbital
Figure 23 Complete CL-BG model for the two-tank system derivative of the total stored energy is a negative definite
function of the states.
1
u1* = a1 P1 − ( P1 − P1ref ) + C1 P1ref Using (21) and (22) the stability of the hidden closed-loop
RH1 dynamics of Tank_3 and Tank_4 can be verified. Figure 27
(20)
1
u2* = a2 P2 − ( P2 − P2ref ) + C2 P2ref shows that the interconnection structure relating the bonds
associated to the actual control inputs u1,2 and the virtual
RH 2
*
control inputs u1,2 is composed of TFs, 0- and 1-junctions.
The actual control inputs u1,2 are simply obtained
As such, this interconnection structure is power conserving.
pre-multiplying (20) by the inverse of the matrix in (19).
This implies that the stability results obtained considering
Notice that the actual control law is not defined for the
the virtual inputs, i.e., for the two-tank problem, are
distribution valves configuration satisfying γ1 + γ2 = 1.
immediately valid for the actual inputs and thus can be
Figure 26 BG of the four tanks system with upper tanks in directly extended to the four-tank problem.
derivative causality (see online version for colours)
Figure 27 BG model after manipulation for controller design
(see online version for colours)
5 Simulation results
4.2 Robustifying the control law
The parameters used in the simulations, shown in Table 1,
The virtual control laws (20) are robustifyied, as in the were obtained from (Johansson 2000), where Ai are the
two-tank example, via power coupling of the mDBG or by cross section areas of the tanks, related to the tanks
simply adding a term like (17) to each equation of (20). This hydraulic capacities by the relation Ci = Ai/ρg, where ρ is
yields the real control laws given in (21) and (22). the liquid (water) density and g is the gravitational
acceleration. The parameters of the mDBG are
RH1 = RH 2 = 10 and K1 = K2 = 0.01.
Bond-graph-based controller design for the quadruple-tank process 189
In this scenario, the bottom tank levels follow their Rosario) and ANPCyT for their financial support through
references rejecting the disturbances originated by the faults the research projects PID-UNR Nr. 19I386 and PICT 2008
occurrence as it is shown in Figure 30. Figure 31 shows the Nr. 650, respectively.
associated residual signals and the control inputs. Here
again, the control inputs force the residual signals to remain
at zero to reject the faults. References
Abdullah, A. and Zribi, M. (2012) ‘Control schemes for a
Figure 31 Residual signals and control inputs (in cm3/s) for
quadruple tank process’, International Journal of Computers
sequential faults in simulation Scenario_2 (see online
Communications and Control, Vol. 7, No. 4, pp.594–604,
version for colours)
ISSN: 1841-9836.
Biswas, P.P., Srivastava, R., Ray, S. and Samanta, A.N. (2009)
‘Sliding mode control of quadruple tank process’,
Mechatronics, June, Vol. 19, No. 4, pp.548–561,
ISSN: 0957-4158, DOI 10.1016/j.mechatronics.2009.01.001.
Blanke, M., Kinnaert, M., Lunze, J. and Staroswiecki, M. (2006)
Diagnosis and Fault-Tolerant Control, 2nd ed.,
Springer-Verlag Berlin Heidelberg.
Breedveld, P.C. (1984) ‘A bond graph algorithm to determine the
equilibrium state of a system’, Journal of the Franklin
Institute, Vol. 318, No. 2,. pp.71–75, ISSN 0016-0032.
Isermann, R. (2006) Fault-Diagnosis Systems, Springer-Verlag
Berlin Heidelberg.
Johansson, K.H. (2000) ‘The quadruple-tank process: a
multivariable laboratory process with an adjustable zero’,
Control Systems Technology, IEEE Transactions on, May,
Vol. 8, No. 3, pp.456, 465, doi: 10.1109/87.845876.
Johnsen, J. and Allgöwer, F. (2007) ‘Interconnection and damping
assignment passivity-based control of a four-tank system’,
Lecture Notes in Control and Information Sciences.
Lagrangian and Hamiltonian Methods for Nonlinear Control
2006, Springer Berlin Heidelberg Publisher, Vol. 366,
pp.111–122.
Junco, S. (1993) ‘Stability analysis and stabilizing control
synthesis via Lyapunov’s second method directly on bond
graphs on nonlinear systems’, Proceedings of IECON’93,
Maui, HII, 17–20 November, pp.2065–2069.
Junco, S. (2000) ‘Linéarisation exacte entrée-sortie et stabilité de
6 Conclusions la dynamique des zéros directement sur bon graph des
systèmes non linéaires’, Actes de CIFA 2000, Première
This work addressed the design of a robust controller for a conference Internationale Francophone d’automatique,
multivariable four-tank system in three stages. A (partial) 4–7 juillet, Lille, France.
energy shaping and damping assignment control system Junco, S. (2001) ‘Lyapunov second method and feedback
design technique in the bond-graph domain was first applied stabilization directly on bond graphs’, Proc. ICBGM’2001,
SCS-Simulation Series, Vol. 33, No. 1, pp.137–142.
to obtain an almost-exact I/O feedback linearising controller
for a simpler two-tank problem. The controller is just Junco, S. (2004) ‘Virtual prototyping of bond graphs models for
controller synthesis through energy and power shaping’,
almost-exact because a feedback term was ignored in the Conference on Integrated Modeling and Analysis in Applied
(otherwise exact) control law in order to spare a Control and Automation (IMAACA 2004).
measurement. The second stage proceeded to robustify the Limon, D., Alvarado, I., Alamo, T. and Camacho, E.F. (2010)
previous controller to which aim a closed-loop DBG was ‘Robust tube-based MPC for tracking of constrained linear
introduced. Finally, a causal manipulation was performed systems with additive disturbances’, Journal of Process
on the BG of the quadruple-tank that permitted handling the Control, Vol. 20, No. 3, pp.248–260.
associated multivariable problem as two monovariable Nacusse, M. and Junco, S. (2011) ‘Passive fault tolerant control: a
decoupled problems, each for a simple two-tank system. bond graph approach’, Conference on Integrated Modeling
Simulation results demonstrate the good regulation and Analysis in Applied Control and Automation (IMAACA
response and the fault tolerance of the control system. 2011), Rome, Italy, 12–14 September.
Nacusse, M. and Junco, S. (2013) ‘Bond-graph based controller
design of a two-input two-output four-tank system’,
Conference on Integrated Modeling and Analysis in Applied
Acknowledgements Control and Automation (IMAACA 2013), Athens Greece,
The authors wish to thank SeCyT-UNR (the Secretary for 25–27 September.
Science and Technology of the National University of
Bond-graph-based controller design for the quadruple-tank process 191
Roinila, T., Jaatinen, A. and Vilkko, M.K. (2008) ‘Corrected As can be noted in (23), the residuals depend on system
mathematical model of quadruple tank process’, Proceedings parameters. If the model represents perfectly the controlled
of the 17th IFAC World Congress, South Korea, Vol. 17,
system, then the residual signals are zero. The differential
Part 1.
causality is an advantage in FDI, because no knowledge of
Samantaray, A., Medjaherb, K., Ould Bouamama, B.,
the initial states is necessary to evaluate the residuals.
Staroswieckic, M. and Dauphin-Tanguy, G. (2006)
‘Diagnostic bond graphs for online fault detection and
isolation’, Simulation Modelling Practice and Theory, April, Figure 32 DBG of the two tank system (see online version
Vol. 14, No. 3, pp.237–262. for colours)
Sontag, E. (1998) Mathematical Control Theory: Deterministic
Finite Dimensional Systems, 2nd ed., Springer, New York.
Zhang, Y. and Jiang, J. (2008) ‘Bibliographical review on
reconfigurable fault-tolerant control systems’, Annual
Reviews in Control, December, Vol. 32, No. 2, pp.229–252.
Appendix
Diagnostic bond-graph
The DBG was first presented by Samantaray et al. (2006)
for numerical evaluation of ARRs. The ARRs are calculated
to perform FDI in an AFTC frame.
Basically, the DBG is obtained from a BG model of the
plant injecting the plant measurements and inputs through
modulated sources. The residual signal is obtained by
Note: Plant measurements to be fed into the DBG
measuring the power co-variables of the modulated sources, encircled in red.
see Figure 32.
Reading directly from the BG the residuals are: