A journal of IEEE and CAA , publishes high-quality papers in English on original theoretical/experimental research and development in all areas of automation
Advanced Search
Volume 7 Issue 1
Jan.  2020

IEEE/CAA Journal of Automatica Sinica

  • JCR Impact Factor: 15.3, Top 1 (SCI Q1)
    CiteScore: 23.5, Top 2% (Q1)
    Google Scholar h5-index: 77， TOP 5
Turn off MathJax
Article Contents
Article Navigation >  IEEE/CAA Journal of Automatica Sinica  > 2020  >  7(1): 187-199
Soumya Ranjan Mahapatro, Bidyadhar Subudhi and Sandip Ghosh, "Design of a Robust Optimal Decentralized PI Controller Based on Nonlinear Constraint Optimization For Level Regulation: An Experimental Study," IEEE/CAA J. Autom. Sinica, vol. 7, no. 1, pp. 187-199, Jan. 2020. doi: 10.1109/JAS.2019.1911516
Citation: Soumya Ranjan Mahapatro, Bidyadhar Subudhi and Sandip Ghosh, "Design of a Robust Optimal Decentralized PI Controller Based on Nonlinear Constraint Optimization For Level Regulation: An Experimental Study," IEEE/CAA J. Autom. Sinica, vol. 7, no. 1, pp. 187-199, Jan. 2020. doi: 10.1109/JAS.2019.1911516
shu

Design of a Robust Optimal Decentralized PI Controller Based on Nonlinear Constraint Optimization For Level Regulation: An Experimental Study

doi: 10.1109/JAS.2019.1911516
More Information
    Abstract
  • This paper presents the development of a new robust optimal decentralized PI controller based on nonlinear optimization for liquid level control in a coupled tank system. The proposed controller maximizes the closed-loop bandwidth for specified gain and phase margins, with constraints on the overshoot ratio to achieve both closed-loop performance and robustness. In the proposed work, a frequency response fitting model reduction technique is initially employed to obtain a first order plus dead time (FOPDT) model of each higher order subsystem. Furthermore, based on the reduced order model, a proposed controller is designed. The stability and performance of the proposed controller are verified by considering multiplicative input and output uncertainties. The performance of the proposed optimal robust decentralized control scheme has been compared with that of a decentralized PI controller. The proposed controller is implemented in real-time on a coupled tank system. From the obtained results, it is shown that the proposed optimal decentralized PI controller exhibits superior control performance to maintain the desired level, for both the nominal as well as the perturbed case as compared to a decentralized PI controller.

     

    • FullText(HTML)
  • loading
    • References(32)
  • [1]
    D. Maghade and B. Patre, " Decentralized PI/PID controllers based on gain and phase margin specifications for tito processes,” ISA Trans., vol. 51, no. 4, pp. 550–558, 2012. doi: 10.1016/j.isatra.2012.02.006
    [2]
    I.-L. Chien, H.-P. Huang, and J.-C. Yang, " A simple multiloop tuning method for PID controllers with no proportional kick,” Industrial &Engineering Chemistry Research, vol. 38, no. 4, pp. 1456–1468, 1999.
    [3]
    K. J. Astrom, K. H. Johansson, and Q.-G. Wang, " Design of decoupled PI controllers for two-by-two systems,” IEE Proceedings-Control Theory and Applications, vol. 149, no. 1, pp. 74–81, 2002. doi: 10.1049/ip-cta:20020087
    [4]
    K. J. Astrom and T. Hägglund, Automatic Tuning of PID Controllers. Instrument Society of America (ISA), 1988.
    [5]
    K. Tan and R. Ferdous, " Relay-enhanced multi-loop PI controllers,” ISA Trans., vol. 42, no. 2, pp. 273–277, 2003. doi: 10.1016/S0019-0578(07)60132-3
    [6]
    W. L. Luyben, " Simple method for tuning SISO controllers in multivariable systems,” Industrial &Engineering Chemistry Process Design and Development, vol. 25, no. 3, pp. 654–660, 1986.
    [7]
    C. Rajapandiyan and M. Chidambaram, " Controller design for MIMO processes based on simple decoupled equivalent transfer functions and simplified decoupler,” Industrial &Engineering Chemistry Research, vol. 51, no. 38, pp. 12398–12410, 2012.
    [8]
    B. T. Jevtović and M. R. Mataušek, " PID controller design of TITO system based on ideal decoupler,” J. Process Control, vol. 20, no. 7, pp. 869–876, 2010. doi: 10.1016/j.jprocont.2010.05.006
    [9]
    V. Hajare and B. Patre, " Decentralized PID controller for TITO systems using characteristic ratio assignment with an experimental application,” ISA Trans., vol. 59, pp. 385–397, 2015. doi: 10.1016/j.isatra.2015.10.008
    [10]
    Q. Xu, S. Zhuang, Y. Zeng, and J. Xiao, " Decentralized adaptive strategies for synchronization of fractional-order complex networks,” IEEE/CAA J. Autom. Sinica, vol. 4, no. 3, pp. 543–550, 2017. doi: 10.1109/JAS.2016.7510142
    [11]
    V. Ravi and T. Thyagarajan, " Adaptive decentralized PI controller for two conical tank interacting level system,” Arabian J. Science and Engineering, vol. 39, no. 12, pp. 8433–8451, 2014. doi: 10.1007/s13369-014-1366-2
    [12]
    P. Dworak, " About dynamic decoupling of a nonlinear mimo dynamic plant,” in Proc. IEEE 19th Int. Conf. Methods and Models in Automation and Robotics (MMAR), 2014, pp. 106 ─ 111.
    [13]
    X. Zhao, H. Yang, W. Xia, and X. Wang, " Adaptive fuzzy hierarchical sliding-mode control for a class of MIMO nonlinear time-delay systems with input saturation,” IEEE Trans. Fuzzy Systems, vol. 25, no. 5, pp. 1062–1077, 2017. doi: 10.1109/TFUZZ.2016.2594273
    [14]
    Nordfeldt and P. H. Tore, " Decoupler and PID controller design of TITO systems,” J. Process Control, vol. 16, no. 9, pp. 923–936, 2006. doi: 10.1016/j.jprocont.2006.06.002
    [15]
    P. Hušek, " Decentralized PI controller design based on phase margin specifications,” IEEE Trans. Control Systems Technology, vol. 22, no. 1, pp. 346–351, 2014. doi: 10.1109/TCST.2013.2248060
    [16]
    P. Roy and B. K. Roy, " Dual mode adaptive fractional order PI controller with feedforward controller based on variable parameter model for quadruple tank process,” ISA Trans., vol. 63, pp. 365–376, 2016. doi: 10.1016/j.isatra.2016.03.010
    [17]
    L. Sun, J. Dong, D. Li, and K. Y. Lee, " A practical multivariable control approach based on inverted decoupling and decentralized active disturbance rejection control,” Industrial &Engineering Chemistry Research, vol. 55, no. 7, pp. 2008–2019, 2016.
    [18]
    A. T. Azar and F. E. Serrano, " Robust IMC-PID tuning for cascade control systems with gain and phase margin specifications,” Neural Computing and Applications, vol. 25, no. 5, pp. 983–995, 2014. doi: 10.1007/s00521-014-1560-x
    [19]
    P. T. Garran and G. Garcia, " Design of an optimal PID controller for a coupled tanks system employing adrc,” IEEE Trans. Latin America, vol. 15, no. 2, pp. 189–196, 2017. doi: 10.1109/TLA.2017.7854611
    [20]
    S. Srivastava and V. Pandit, " A PI/PID controller for time delay systems with desired closed loop time response and guaranteed gain and phase margins,” J. Process Control, vol. 37, pp. 70–77, 2016. doi: 10.1016/j.jprocont.2015.11.001
    [21]
    Q.-G. Wang, H.-W. Fung, and Y. Zhang, " PID tuning with exact gain and phase margins,” ISA Trans., vol. 38, no. 3, pp. 243–249, 1999. doi: 10.1016/S0019-0578(99)00020-8
    [22]
    W. K. Ho, T. H. Lee, and O. P. Gan, " Tuning of multiloop proportionalintegral-derivative controllers based on gain and phase margin specifications,” Industrial &Engineering Chemistry Research, vol. 36, no. 6, pp. 2231–2238, 1997.
    [23]
    K. J. Åström and T. Hägglund, " Automatic tuning of simple regulators with specifications on phase and amplitude margins,” Automatica, vol. 20, no. 5, pp. 645–651, 1984. doi: 10.1016/0005-1098(84)90014-1
    [24]
    W. K. Ho, C. C. Hang, and L. S. Cao, " Tuning of PID controllers based on gain and phase margin specifications,” Automatica, vol. 31, no. 3, pp. 497–502, 1995. doi: 10.1016/0005-1098(94)00130-B
    [25]
    W. K. Ho, O. Gan, E. B. Tay, and E. Ang, " Performance and gain and phase margins of well-known PID tuning formulas,” IEEE Trans. Control Systems Technology, vol. 4, no. 4, pp. 473–477, 1996. doi: 10.1109/87.508897
    [26]
    W. K. Ho, T. Lee, H. Han, and Y. Hong, " Self-tuning IMC-PID control with interval gain and phase margins assignment,” IEEE Trans. Control Systems Technology, vol. 9, no. 3, pp. 535–541, 2001. doi: 10.1109/87.918905
    [27]
    Q.-G. Wang, B. Huang, and X. Guo, " Auto-tuning of TITO decoupling controllers from step tests,” ISA Trans., vol. 39, no. 4, pp. 407–418, 2000. doi: 10.1016/S0019-0578(00)00028-8
    [28]
    A. K. Tangirala, Principles of System Identification: Theory and Practice. CRC Press, 2014.
    [29]
    Q.-G. Wang, Decoupling Control. Springer Science & Business Media, 2002, vol. 285.
    [30]
    S. Skogestad and I. Postlethwaite, Multivariable Feedback Control: Analysis and Design. Wiley New York, 2007, vol. 2.
    [31]
    R. C. Dorf and R. H. Bishop, Modern Control Systems, Addison-Wesley Longman Publishing Co. Inc., Boston, MA, USA, Pearson, 2011.
    [32]
    V. Krishnamurthy and V. Seshadri, " Model reduction using the routh stability criterion,” IEEE Trans. Automatic Control, vol. 23, no. 4, pp. 729–731, 1978. doi: 10.1109/TAC.1978.1101805
    • Related Articles
    • Supplements(0)

Catalog

    通讯作者: 陈斌, bchen63@163.com
    • 1. 

      沈阳化工大学材料科学与工程学院 沈阳 110142

    1. 本站搜索
    2. 百度学术搜索
    3. 万方数据库搜索
    4. CNKI搜索

    Figures(24)  / Tables(2)

    Get Citation
    PDF
    XML

    Article Metrics

    Article views (2197) PDF downloads(76) Cited by()

    Highlights

    • Obtaining a suitable model of the Coupled Tank System that is necessary for decoupler design based on frequency response fitting approach.
    • Design of a new robust optimal decentralized PI controller based on nonlinear optimization for liquid level control of multivariable system to achieving set-point tracking and disturbance rejection.
    • Verification of Robust stability of the controller in presence of multiplicative input and output uncertainty.
    • Comparison of level control performance for set-point tracking and disturbance rejection.
    • Validation of the proposed controller experimentally.

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return