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Multivariable Control Multivariable Control SystemsSystems
Ali KarimpourAssistant ProfessorAssistant Professor
Ferdowsi University of Mashhad
Introduction
Introduction
Topics to be covered include:
Introduction
p
Introduction
Interaction
Stability
Analysis and design in multivariable systems
Some example of multivariable system
ReferencesReferences
Ali Karimpour Feb 2012
2
Introduction
Introduction
What is multivariable control?
MIMO systems are considered as multivariable systems.
A General multivariable plantA General multivariable plant
Why they are different from SISO?
Ali Karimpour Feb 2012
3Since of interaction and design procedure.
Introduction
Topics to be covered include:
d iIntroduction
Interaction
Stability
Analysis and design in multivariable systemsAnalysis and design in multivariable systems
Some example of multivariable system
Evaluation and References
Ali Karimpour Feb 2012
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Introduction
Interaction
Interaction
Interaction
Ali Karimpour Feb 2012
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Introduction
Interaction
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Introduction
Interaction
One way or single direction interaction (Neutralized process)
Ali Karimpour Feb 2012
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Introduction
Interaction
One way or single direction interaction (Stirred tank hitter)
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Introduction
Topics to be covered include:
d iIntroduction
Interaction
Stability
Analysis and design in multivariable systemsAnalysis and design in multivariable systems
Some example of multivariable system
Evaluation and References
Ali Karimpour Feb 2012
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Introduction
Stability
For stability analysis (BIBO) in the case of no interaction (g12(s)=g21(s)=0) check:
Ali Karimpour Feb 2012
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check:
For stability analysis (BIBO) with interaction check:
Introduction
Topics to be covered include:
d iIntroduction
Interaction
Stability
Analysis and design in multivariable systemsAnalysis and design in multivariable systems
Some example of multivariable system
Evaluation and References
Ali Karimpour Feb 2012
11
Introduction
Analysis and design in multivariable systems
Issues in the Analysis and Design of multivariable control design
• Multivariable system representation
• Multivariable poles and zeros• Multivariable poles and zeros
• Controllability and observability
• State space realization
• Multivariable system stabilityy y
• Multivariable system robustness analysis
C t l t t d i• Control structure design
• Control system design strategyDiagonal or decentralizedBlock diagonal
Ali Karimpour Feb 2012
12• Control design methodology Fully centralized
Introduction
Analysis and design in multivariable systems
Multivariable Design methodologies
• State space methods
• Multivariable root loci approach• Multivariable root loci approach
• Rosenbrock frequency response approach
• Pole placement methods
• Eigenstructure assignmentg g
• Multivariable PID controllers
Th l i l b t t l th d• The classical robust control methods
• QFT
Ali Karimpour Feb 2012
13• Soft computing approach
Introduction
Topics to be covered include:
d iIntroduction
Interaction
Stability
Analysis and design in multivariable systemsAnalysis and design in multivariable systems
Some example of multivariable system
Evaluation and References
Ali Karimpour Feb 2012
14
Introduction
Some example of multivariable system
Motor generator sets A multi machine power systemp y
Aero-engine
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Introduction
Some example of multivariable system
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Introduction
Quadruple tank process
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Introduction
Topics to be covered include:
d iIntroduction
Interaction
Stability
Analysis and design in multivariable systemsAnalysis and design in multivariable systems
Some example of multivariable system
Evaluation and References
Ali Karimpour Feb 2012
18
Introduction
Rreferences
References
• Multivariable Feedback Control S Skogestad I Postlethwaite
• Multivariable Feedback Design, J M Maciejowski, Wesley,1989.
• Control Configuration Selection in Multivariable Plants, A. Kh ki S di h B M i S i V l 2009
Multivariable Feedback Control, S.Skogestad, I. Postlethwaite, Wiley,2005.
Khaki-Sedigh, B. Moaveni, Springer Verlag, 2009.
• تحليل و طراحي سيستم هاي چند متغيره، دكتر علي خاكي صديق
Web References
• http://www.um.ac.ir/~karimpor
Ali Karimpour Feb 2012
19• http://saba.kntu.ac.ir/eecd/khakisedigh/Courses/mv/
