Nonlinear Model Based Process Control

884 Pages·1998·39.142 MB·English

by  B. W. Bequette (auth.), Ridvan Berber, Costas Kravaris (eds.)

Nonlinear Model Based Process Control
NATO ASI Series
Advanced Science Institute Series
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Series E: Applied Sciences - Vol. 353
Nonlinear Model Based
Process Control
edited by
Rldvan Berber
Department of Chemical Engineering,
Ankara University,
Tandogan, Ankara, Turkey
and
Costas Kravaris
Department of Chemical Engineering,
The University of Michigan,
Ann Arbor, Michigan, U.S.A.
Springer Science+Business Media, B.V.
Proceedings of the NATO Advanced Study Institute on
Nonlinear Model Based Process Control
Antalya, Turkey
August1Q-20, 1997
A C.I.P. Catalogue record for this book is available from the Library of Congress.
ISBN 978-94-010-6140-7 ISBN 978-94-011-5094-1 (eBook)
DOI 10.1007/978-94-011-5094-1
Printed on acid-free paper
AII Rights Reserved
© 1998 Springer Science+Business Media Dordrecht
Originally published by Kluwer Academic Publishers in 1998
Softcover reprint of the hardcover 1s t edition 1998
No part of the material protected by this copyright notice may be reproduced or
utilized in any form or by any means, electronic or mechanical, including photo
copying, recording or by any information storage and retrieval system, without written
permission from the copyright owner.
CONTENTS
Preface ix
Organizing Committee and the List of Contributors xiii
Part 1 Nonlinear Control Based on Linear Models
Practical Approaches to Nonlinear Control: A Review of Process Applications
B. VV. Bequette 3
Multiple Model Adaptive Control (MMAC): Using a Bank of Linear Models
to Control a Nonlinear System
K. D. Schott and B. VV. Bequette 33
Self-scheduling MPC using LPV models
Y. Arkun, A. Banerjee and N.M. Lakshmanan 59
Part II Nonlinear Model Based Controller Synthesis 85
Insights into the Relationships between Linear and Nonlinear
Model Based Control and Issues for Further Research
R. Berber and C. Brosilow 87
Nonlinear Model-Based Control of Nonminimum -Phase Processes
C. Kravaris, M. Niemiec, R. Berber and C. B. Brosilow 115
Nonlinear Model-Algorithmic Control: A Review and New Developments
M. Niemiec and C. Kravaris 143
Windup and Directionality Compensation in Nonlinear Model-Based Control
M Soroush 173
Internally Stable Linear and Nonlinear Algorithmic Internal Model Control
of Unstable Systems
R. Berber and C. Brosilow 209
Approximate 1/0-Linearization of Nonlinear Systems
F. AIIg6wer and F.J. Doyle III 235
Elementary Nonlinear Decoupling (END), A General Approach
to Model Based Control of Nonlinear Multivariable Processes
J. G. Balchen 275
VI
Control of Nonlinear Differential Algebraic Equation Systems:
An OveIView
A. Kumar and P. Daoutidis 311
Promises and Limitations of Functional Expansions
in Model-Based Control
K. R. Harris and A. Palazoglu 345
Nonlinear Feedback Control of Parabolic PDE Systems
P.O. Christofides and P. Daoutidis 371
Part IlIOn-line Optimization Approaches for Nonlinear Control 401
Contractive Model Predictive Control with Local Linearization for
Nonlinear Systems
S. L. de Oliveira and M. Morari 403
Feedback Linearization + Contractive MPC: Stability Analysis /
Application to a Polymerization Process
S. L. de Oliveira, D. M. Merquior and E. L. Lima 433
Nonlinear Model Predictive Control Schemes with Guaranteed Stability
H. Chen and F. Aligower 465
A Computationally Efficient Nonlinear Model Predictive Control Algorithm
with Guaranteed Stability
A. Zheng 495
Optimization Approaches to Control-Integrated Design of Industrial
Batch Reactors
O. Abel, A. Helbig and W. Marquardt 513
Part IV. Nonlinear State and Parameter Estimation 553
Software Sensors and Adaptive Linearizing Control ofBioreactors
D. Dochain and M. Perrier 555
Input Sequences for Nonlinear Modeling
R.K. Pearson 599
Towards Multiscale Dynamic Data Reconciliation
T. Binder, L. Blank, W. Dahmen and W. Marquardt 623
Multi-Scale Aspects in Linear and Nonlinear Estimation and Control
G. Stephanopoulos, O. Karsligil and M. S. Dyer 667
VIl
Part V. Industrial Applications 735
Nonlinear Control with Linear Controllers: Transfonnations, Calculated Gains
and Model Scheduling
A. Konuk 737
Control of a Steam Boiler by Elementary Nonlinear Decoupling (END)
J. G. Balchen and G. Larsen 749
Reduction of PVC Batch Time by Optimal Control of Free Radical Concentration
A. J. Damslora, S. Saelid and B. Lie 781
Kappa Number Profile Control for Continuous Digesters
F. KaYlhan 805
Artificial Neural Networks for Nonlinear Control ofIndustrial Processes
M. Nikravesh 831
Appendices 871
1. Titles ofP oster Presentations 873
11. Keeping up with Tradition:
Lectures and Events at the Workshop - A Cartoon Summary
B. W. Bequette 875
111. List ofP articipants 879
IV. Group Picture of all Participants 886
V. Group Picture ofM ain Lecturers and Invited Contributors 889
Index 891
PREFACE
The ASI on Nonlinear Model Based Process Control (August 10-20, 1997~ Antalya -
Turkey) convened as a continuation of a previous ASI which was held in August 1994
in Antalya on Methods of Model Based Process Control in a more general context. In
1994, the contributions and discussions convincingly showed that industrial process
control would increasingly rely on nonlinear model based control systems. Therefore,
the idea for organizing this ASI was motivated by the success of the first one, the
enthusiasm expressed by the scientific community for continuing contact, and the
growing incentive for on-line control algorithms for nonlinear processes. This is due to
tighter constraints and constantly changing performance objectives that now force the
processes to be operated over a wider range of conditions compared to the past, and the
fact that many of industrial operations are nonlinear in nature.
The ASI intended to review in depth and in a global way the state-of-the-art in
nonlinear model based control. The list of lecturers consisted of 12 eminent scientists
leading the principal developments in the area, as well as industrial specialists
experienced in the application of these techniques. Selected out of a large number of
applications, there was a high quality, active audience composed of 59 students from
20 countries. Including family members accompanying the participants, the group
formed a large body of92 persons. Out of the 71 participants, 11 were from industry. A
good balance was reached in attendance between high-profile presenters,
representatives of leading companies and PhD students, which led to very interesting
discussions.
20 main lectures (2 from industry), 10 invited contributions (5 from industry) and
one special tutorial lecture (upon request from the students) were given. 5 poster
contributions with 10 minute flash presentations were made. Two volumes of pre
prints (one for main lectures and invited contributions, arid one for poster
presentations) were distributed to the participants at registration. This facilitated the
understanding of the lecturys and the interaction among lecturers and students. A well
prepared and frequently updated web-site was maintained for the convenience of
participants. It helped .. the participants to get beforehand information about the
technical program, lecturers, presentations, meeting site and social program.
Two panel sessions and one open forum were held during the ASI. The first panel
was right at the opening session to have the opinion of a group of prominent lecturers
on the status of current control technology, its potential and its limitations. The second
panel session was scheduled in the middle of the technical program to discuss if there
had been any changes in the views after the presentations of most recent developments
in the area. An industrialist's view and conception of interaction between the academia
and industry, the list of seven "DON'Ts", and the description of challenging, and
unsolved problems were particularly welcomed by the audience and resulted in fruitful
discussions. Having' come to the end of the presentations, a free forum was organized
to let everybody, especially those who had not had the chance to speak, express
IX
x
themselves briefly about where they think we should be heading. This session focused
on three themes; (i) assessment of the state-of-art, (ii) critique of the current ASI, and
(iii) suggestions for a possible future AS!. All participants underlined the high quality
of the scientific and administrative organization and appreciated the high level of
presentations and active discussions.
The tradition of distributing 'Special Awards', which started at the previous ASI
held in 1994, continued. This time, however, every speaker got a 'Special Prize'
distributed by Prof. Bequette on a cartoon display regarding the boat tour that was
organized within the social program. The role that every contributor played on the
cartoon of the sail boat reflected his/her scientific views and discussions. This very
special assessment of the meeting is included in the appendix.
The meeting hotel, Falez, again provided a very pleasant atmosphere for working as
well as relaxing between sessions. The warm and sunny weather, and the picturesque
scenery around the hotel formed a very pleasant setting for the meeting, and in
particular, for all non-scientific programs. Exciting excursions to places of cultural and
historical interest and social program, including titles such as "Boat Tour Under Full
Moon", "Swimming in History" and the like, gave us an opportunity to combine the
work with ease and contributed to the good spirit of all lecturers and participants for
pursuing discussions in a more relaxed atmosphere.
For the final preparations of this book, the Organizing Committee decided to have
all papers reviewed by two reviewers, in order to provide feedback to the authors. This
was considered as a positive step towards a high quality book, and was agreed upon by
the lecturers and contributors during the AS!. The material in the volume is arranged
in five parts each covering the major themes presented at the Institute. The question of
how to use linear models to effectively control nonlinear processes is addressed first.
Classical gain scheduling techniques are reviewed, followed by two new approaches,
which involve multiple models. Part II covers a broad spectrum of nonlinear model
based controller synthesis methods. It includes investigations of stability, robustness,
constraint handling and non-minimum phase issues on recent and new approaches, as
well as new classes of problems, like in distributed parameter differential algebraic
equation systems. On line optimization approaches are covered in Part III. Constraint
handling and stability issues were also emphasized in this part. Nonlinear state and
parameter estimation are significant for the development of a reliable model as well as
calculating feedback action from available measurements. These issues are treated in
Part IV. A number of contributions came from industry and deal with implementations
of nonlinear model based control. These are grouped into Part V. It is hoped that the
present book will ultimately help motivate the applications of the developed methods
and will contribute to opening new frontiers in research directions. One can also find
new research results, ideas and views for future needs and challenges. The book can be
used for a graduate level course, and is a comprehensive guide for researchers and
industrial control engineers to explore the latest trends in the field.
Clearly, this ASI would not have been possible without the financial resources. The
Organizers are indebted to NATO-Scientific Affairs Division for its financial support.
Special thanks of appreciation are extended to Dr. L. Veiga da Cunha (NATO
Brussels). The National Administrators of NATO ASIs in Turkey, Greece and
Portugal, and the National Science Foundation in the USA provided supplementary
funds for participants from these countries. Additional support in different forms were
Xl
also supplied by Ankara University, Graduate School of Natural and Applied Sciences;
AKSA Acrilic Chemical Industries, Co. (Yalova); PAK-GIDA A.S. (izmit) and T.
Garanti Bankasl (istanbul). All of these contributions, which came through the help
of the individuals; Prof. Dr. Aziz Ek~i, Mustafa Ytlmaz, Tuncay Yurdesin and
Mazlum inal are gratefully acknowledged. The efforts by the staff of Falez Hotel, and
especially those of Nesrin Sim~ek, for making our stay a really enjoyable one are
appreciated.
It is clear that the success of a school is ultimately determined by the interest and
commitments of the lecturers and participants. They were at a very high level in this
AS!. We would like to express our very deep gratitude to all lecturers for their work
and contributions, and to the participants for their active involvement and expressions
of their great satisfaction in attending the meeting.
R. Berber
Ankara, April 1998
C. Kravaris
Ann Arbor, April 1998