Improved Internal Model Control-Proportional-Integral- Derivative Fractional-Order Multiloop Controller Design for Non Integer Order Multivariable Systems

2018 ◽  
Vol 141 (1) ◽  
Author(s):  
Tassadit Chekari ◽  
Rachid Mansouri ◽  
Maamar Bettayeb
Keyword(s):  
Fractional Order ◽  
Degrees Of Freedom ◽  
Controller Design ◽  
Mimo Systems ◽  
Design Method ◽  
Internal Model Control ◽  
Tuning Parameter ◽  
Multivariable Systems ◽  
Integer Order ◽  
Model Control

This paper is aimed to propose a multiloop control scheme for fractional order multi-input multi-output (FO-MIMO) systems. It is an extension of the FO-multiloop controller design method developed for integer order multivariable systems to FO-MIMO ones. The interactions among the control loops are considered as disturbances and a two degrees-of-freedom (2DOF) paradigm is used to deal with the process outputs performance and the interactions reduction effect, separately. The proposed controller design method is simple, in relation with the desired closed-loop specifications and a tuning parameter. It presents an interest in controlling complex MIMO systems since fractional order models (FO-models) represent some real processes better than integer order ones and high order systems can be approximated by FO-models. Two examples are considered and compared with other existing methods to evaluate the proposed controller.

The Inverted Decoupling Based Fractional Order Two-Input-Two-Output IMC Controller

2017 ◽  
Author(s):  
Dazi Li ◽  
Xingyu He
Keyword(s):  
Frequency Domain ◽  
Fractional Order ◽  
Disturbance Rejection ◽  
Internal Model ◽  
Design Method ◽  
Internal Model Control ◽  
Order System ◽  
Single Input Single Output ◽  
Integer Order ◽  
Model Control

Many processes in the industry can be modeled as fractional order, research on the fractional order become more and more popular. Usually, controllers such as fractional order PID (FOPID) or fractional active disturbance rejection control (FADRC) are used to control single-input-single-output (SISO) fractional order system. However, when it comes to fractional order two-input-two-output (TITO) processes, few research focus on this. In this paper, a new design method for fractional order control based on multivariable non-internal model control with inverted decoupling is proposed to handle non-integer order two-input-two-output system. The controller proposed in this paper just has two parameters to tune compared with the five parameters of the FOPID controller, and the controller structure can be achieved by internal model control (IMC) method which means it is easy to implement. The parameters tuning method used in this paper is based on frequency domain strategy. Compared with integer order situation, fractional order method is more complex, because the calculation of the frequency domain characteristics is difficult. The controller proposed in this paper is robust to process gain variations, what’s more, it provides ideal performance for both set point-tracking and disturbance rejection. Numerical results are given to show the performance of the proposed controller.

scholarly journals A New Stability Theory for Grünwald–Letnikov Inverse Model Control in the Multivariable LTI Fractional-Order Framework

Symmetry ◽  
2019 ◽  
Vol 11 (10) ◽  
pp. 1322 ◽  
Author(s):  
Wojciech Przemysław Hunek ◽  
Łukasz Wach
Keyword(s):  
Fractional Order ◽  
Mimo Systems ◽  
Inverse Model ◽  
Integer Order ◽  
Transmission Zeros ◽  
Control Paradigm ◽  
Model Control ◽  
The Stability ◽  
Research Challenge ◽  
Stable Control

The new general theory dedicated to the stability for LTI MIMO, in particular nonsquare, fractional-order systems described by the Grünwald–Letnikov discrete-time state–space domain is presented in this paper. Such systems under inverse model control, principally MV/perfect control, represent a real research challenge due to an infinite number of solutions to the underlying inverse problem for nonsquare matrices. Therefore, the paper presents a new algorithm for fractional-order perfect control with corresponding stability formula involving recently given H- and σ -inverse of nonsquare matrices, up to now applied solely to the integer-order plants. On such foundation a new set of stability-related tools is introduced, among them the key role played by so-called control zeros. Control zeros constitute an extension of transmission zeros for nonsquare fractional-order LTI MIMO systems under inverse model control. Based on the sets of stable control zeros a minimum-phase behavior is specified because of the stability of newly defined perfect control law described in the non-integer-order framework. The whole theory is complemented by pole-free fractional-order perfect control paradigm, a special case of fractional-order perfect control strategy. A significant number of simulation examples confirm the correctness and research potential proposed in the paper methodology.

A V-Norm Decoupling IMC Method with Filters Based on Inverted Decoupling

2012 ◽  
Vol 197 ◽  
pp. 311-315 ◽  
Author(s):  
Qi Bing Jin ◽  
Rong Li
Keyword(s):  
Internal Model ◽  
Controller Design ◽  
Design Method ◽  
Industrial Process ◽  
Internal Model Control ◽  
System Model ◽  
Control Effect ◽  
Model Control ◽  
Internal Model Controller ◽  
Simulated Object

A V-norm Decoupling internal model control (IMC) method with filters based on inverted decoupling for multivariate stable object is proposed in this paper. The actual industrial process is very difficult to obtain an accurate model, which makes the control effect not satisfactory. To solve this problem, the V-norm decoupling controller is designed on the basis of the inverted decoupling, and a filter is added in front of the controller to reduce coupling and increase robustness. Compared with traditional multivariable controller designed method, the method of designing the internal model controller in this paper is simpler and less calculation. Finally, the Wood/Berry model is taken as the simulated object to verify the controller design method is reasonable. The results show that V-norm decoupling internal model controller method is effective and feasible, even the system model is mismatched.

Max-Max Based Internal Model Control Method for Multivariable System with Time Delay

2012 ◽  
Vol 236-237 ◽  
pp. 356-359 ◽  
Author(s):  
Ling Quan ◽  
Hai Long Zhang
Keyword(s):  
Time Delay ◽  
Internal Model ◽  
Control Method ◽  
Controller Design ◽  
Design Method ◽  
Internal Model Control ◽  
Multivariable System ◽  
Model Control ◽  
Internal Model Controller ◽  
System With Time Delay

Multivariable system with time delay and coupling widely exist in industrial which may destroy the normal work of control system. An unconventional internal model controller design method will be introduced in this paper. The closed loop system can be decouple by calculate the inverse of transfer function matrix and the optimal diagonal decomposition matrix. Finally, this method was applied in a multivariable system with different time delays, the simulation results can show the effectiveness of this method.

scholarly journals A New Controller Design Method for Single Loop Internal Model Control Systems

2020 ◽  
Vol 29 (2) ◽  
pp. 219-229
Author(s):  
Arun RAMAVEERAPATHIRAN ◽  
Muniraj RATHINAM ◽  
Willjuice Iruthayarajan MARIA SILUVAIRAJ
Keyword(s):  
Control Systems ◽  
Internal Model ◽  
Controller Design ◽  
Design Method ◽  
Internal Model Control ◽  
Single Loop ◽  
Model Control

Boiler Combustion System of Multivariable Internal Model Control Application Research

2013 ◽  
Vol 648 ◽  
pp. 305-310
Author(s):  
Ji Liang Shang ◽  
Da Hai Ren
Keyword(s):  
Internal Model ◽  
Process Model ◽  
Controller Design ◽  
Design Method ◽  
Industrial Process ◽  
Internal Model Control ◽  
Model Control ◽  
Internal Model Controller ◽  
System Output ◽  
Control Application

In the industrial process of common multivariable time delay input/output system, a multivariable decoupling internal model controller design method is put forward based on the internal model control structure, the method for the design of internal model controller has the function of decoupling and controller. The advantage has the ability to achieve approximate or complete decoupling in nominal system output response, the method is used on the multivariable strong coupling of the boiler combustion control system to design and simulation study, the simulation results prove the effectiveness of the method. And in the process model and process mismatch showed strong robustness and anti jamming ability.

scholarly journals Analytical Design of Multi-loop Fractional IMC-PID-Filter Controllers for MIMO System Using Equivalent NIOPDT Models

2020 ◽  
Vol 15 ◽  
Keyword(s):  
Controller Design ◽  
Reference Model ◽  
Design Method ◽  
Mimo System ◽  
Internal Model Control ◽  
Smith Predictor ◽  
Superior Performance ◽  
Pid Controllers ◽  
Locus Method ◽  
Model Control

In this paper, a multiloop fractional IMC-PID-filter controller design is proposed for 2x2 multivariable systems (two-input two-output (TITO) system). The MIMO system is decomposed by an inverted decoupler into independent loops (SISO systems) and they are approximated to equivalent new fractional order models known as non integer order plus time delay (NIOPTD). The fractional property of the suggested controller is imposed by choosing the Bode’s ideal closed loop transfer function as the reference model for each loop. The design method is based on the internal model control (IMC) paradigm. Finally, an illustrative example of MIMO process is provided and a comparative study is conducted out to demonstrate the advantages of the proposed method where the simulation results show the superior performance obtained by a multi-loop fractional IMC-PID-filter controllers in comparison with fractional PI/PID controllers based on simplified decoupling smith predictor (Fractional-SDSP and Classical-SDSP) structure as well as classical decentralized PID controllers using root locus method.

scholarly journals Analytical optimization of IMC-PID design based on performance/robustness tradeoff tuning strategy for the modified Smith structure

2019 ◽  
Vol 39 (1) ◽  
pp. 158-173
Author(s):  
Liu Li-Ye ◽  
Jin Qi-Bing
Keyword(s):  
Control System ◽  
Degrees Of Freedom ◽  
Control Structure ◽  
Design Method ◽  
Dynamic Performance ◽  
Internal Model Control ◽  
Stability Performance ◽  
Model Control ◽  
System Robustness ◽  
Tuning Strategy

In this paper, a modified two degrees of freedom Smith control structure is proposed to realize tradeoff tuning strategy between the dynamic performance and system robustness based on analytical optimization of internal model control proportion integration differentiation design method. By analyzing the stability performance of the modified Smith control structure, the control characteristic between the modified Smith control structure and two adjustment parameters is obtained. The different input responses are discussed based on the performance of modified control system. Moreover, the set point response and the disturbance response of the closed-loop system are adjusted by two parameters, respectively. The multiplicative uncertainty plant is imposed into the modified Smith control system to analyze the system robustness from the aspect of the structure uncertainty. The proposed control strategy is applied to the second order plus delay time plant. The simulation result reflects that the modified Smith control structure is the method which is based on the tradeoff between the performance and the robustness tuning strategy.

scholarly journals An improved 2-degree-of-freedom internal model proportional–integral–derivative controller design for stable time-delay processes

2020 ◽  
Vol 53 (5-6) ◽  
pp. 841-849 ◽  
Author(s):  
Sheng Wu ◽  
Ziwei Li ◽  
Ridong Zhang
Keyword(s):  
Time Delay ◽  
Internal Model ◽  
Degrees Of Freedom ◽  
Control Method ◽  
Controller Design ◽  
Internal Model Control ◽  
Degree Of Freedom ◽  
Set Point ◽  
Point Tracking ◽  
Model Control

In this article, an enhanced 2-degree-of-freedom internal model control strategy for typical industrial processes with time-delay is developed. For the proposed controller, it is composed of an inner loop feedback controller which is designed based on the internal model control theory and a weighted set-point tracking controller. Note that the adjustment of set-point tracking performance and disturbance rejection characteristics can be decoupled by employing the developed strategy, which indicates that more degrees of freedom are obtained for the proposed controller design; thus, better ensemble performance and stronger robustness are anticipated by regulating these two controllers separately, which may not be achieved in the conventional internal model control method. Case studies on two kinds of stable processes with time-delay verify the effectiveness of the proposed scheme finally.

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