Design a Multivariable Controller for

the Quadruple-Tank Process:

Characteristic Loci
Method

mbarkhordary@ee.iust.ac.ir

(commutative)

G (s )

G s W s s W 1 s

s diag 1 s , 2 s ,..., m s

W s :

i s : G (s
)

K s W s M s W

M s diag 1 s , 2 s ,..., m s

G (s
)

 )(commutative

):(Return ratio
G s K s W s s M s W 1 s W s N s W 1 s

:
N s diag 1 s , 2 s ,..., m s

i s i s i s

=
:

 )(commutative

: W s

:
K s A s M s B s

A s

B s

W s W 1 s

:Align


G s K s W s diag{ i s }W 1 s
1
S s W s diag {
}W
1 i s

s
T s W s diag { i
}W
1 i s

i s 1

i s
1
1 i s

T s I

 Characteristic Loci

K h G 1 j b .Align

) K m (s Align m b
G s K h

: I

) K l (s Align l m

K m j

) K s K h K m ( s ) K l ( s

K l j

MFD Toolbox
MATLAB MFD

mfddemo
1)
2)
3)
4)
5)
6)
7)
8)

Generating and Displaying an MVFR Matrix.

Basic Mathematical Functions.
Plotting Functions.
Characteristic Locus Design Method.
Direct Nyquist Array Design Method.
Inverse Nyquist Array Design Method.
Quasi Classical Design Method.
Block Building and Connection.

0) Quit.

Select a demo number:

MFD Toolbox
mv2fr :

MV2FR

Frequency response of MIMO system

MV2FR(A,B,C,D,W) calculates the MVFR matrix of the system:
.
x = Ax + Bu
-1
y = Cx + Du
G(s) = C(sI-A) B + D
Vector W contains the frequencies, in radians, at which the
frequency response is to be evaluated.

MV2FR(NUM,COMDEN,W) calculates the MVFR matrix from the

transfer function description G(s) = NUM(s)/COMDEN(s)

MFD Toolbox

FMULF

Multiply two MVFR matrices.

FCGERSH

Generate column Gershgorin circles.

FRGERSH

Generate row Gershgorin circles.

FGETF

Get component matrices from MVFR matrix.

ALIGN

Real alignment

PHLAG

design a phase lag compensator

PHLEAD

design a phase lead compensator

PLOTBODE

Plot Bode diagrams.

PLOTDB

Plot Magnitude Bode diagrams.

PLOTNIC

Plot Nichols chart.

PLOTNYQ

Plot Nyquist diagrams.

"The Quadruple-Tank Process: A Multivariable Laboratory

Process with an Adjustable Zero"
: 2000 3 8
"IEEE Transaction on Control Systems Technology"

Ai

ai
hi
: v1 v 2

:
y1 y2
k1 , k 2

) 1 , 2 (0,1

P+

h , h
h , h
v , v

][cm

)(12.6,13.0

)(12.4,12,7

0
2

0
1

][cm

)(4.8,4.9

)(1.8,1.4

0
4

0
3

][V

)(3.15,3.15

)(3.00,3.00

0
2

0
1

][cm3/Vs

)(3.14,3.29

)(3.33,3.35

k1 , k 2

)(0.43,0.34

)(0.70,0.60

1 , 2


xi hi hi0

u i vi vi0

T
1

T2

dx

dt 0

k
y c
0

0
kc

A3
A1T3
0

T3

0 0
x
0 0

1k1
A1

0
A4
A2T4

1
T4

(1 1 )k1

A4

2 k2

A2
u
(1 2 )k 2

A3

A
Ti i
ai

2hi0
g

G s

G s

1c1
1 sT1
1 1 c 2
(1 sT4 )(1 sT2 )

1 2 c1

(1 sT3 )(1 sT1 )

2 c2

1 sT2

2.6 1.5

1 23s 1 62s
1 62s
1.4
2.8

1 30s 1 90s
1 90 s

G s

1.5
2.5

1 39s 1 63s
1 63s
2.5
1.6

1 56s 1 91s
1 91s

) (


) (

 : K h
: 5 rad/sec
:
)Kh=align(g_wh

K h G 1 j b

- 0.0067449
123.92
K h G 1 j 5
167.03
- 0.0025492

h b

 : K h

 : K h

 : K h

 : K h

 : K h

:

.C.L j0+1-

G j h .K h

 : K m
:
G(j0.1)Kh WW -1

A B Align

M Lag 40

0
s 10

s 2.175

s 10

M(s) s 2.175

4.5977
T=0.1

1 sT

1 sT

;))KA = align(inv(W
;)}]KM=tf({[0.1 1],[0];[0],[0.1 1]},{[0.1 0.2175],[1];[1],[0.1 0.2175
;)KB = align(W
K m ( s ) AM ( s ) B

 : K m
Characteristic Loci ) G (s )K h K m (s

 : K m

) G (s )K h K m (s

 : K m

:
j0+1-

)M(s

]) abs [G j m K h K m ( j m

 : K l
:


:

1 sT
I
sT

K l (s)

Kl

M
:

K l sI
s

K L ( s)

 : K l

Characteristic Loci
) G (s )K h K m (s )K L (s

 : K l

) G (s )K h K m (s )K L (s

)K s K h K m (s) K l (s

:
0
- 35.43
- 45.234
0

0
9.3105

0
56.698

0
0
3.1152 2.8438
- 5.7952 - 5.2902

0
0

0
0
0.032005 - 8.6308

0
0
0.0081842 - 2.207

- 12.904 - 11.508 0.0034438 - 0.71633

C
23.233
0.52497 0.47905 - 0.27253

123.75 - 5.1816

- 5.1454 166.9

 :
3/0