Due to high nonlinearity with features of large time constants, delays, and interaction among variables, control of the wastewater treatment plants (WWTPs) is a very challenging task. Modern control strategies such as model predictive controllers or artificial neural networks can be used to deal with the non-linearity. Another characteristic of this system should be considered is that it works repetitively. Iterative learning control (ILC) is a potential candidate for such a demanding task. This paper proposes a method using ILC for WWTPs to achieve new results. By exploiting data from the previous iterations, the learning control algorithm can improve gradually tracking control performance for the next runs, and hence outperforms conventional control approaches such as feedback controller and model predictive control (MPC). The benchmark simulation model No.1-BSM1 has been used as a standard for performance assessment and evaluation of the control strategy. Control of the Dissolved Oxygen in the aerated reactors has been performed using the PD-type ILC algorithms. The obtained results show the advantages of ILC over a classical PI control concerning the control quality indexes, IEA and ISE, of the system. Besides, the conventional feedback regulator is designed in a combination with the iterative learning control to deal with uncertainty. Simulation results demonstrate the potential benefits of the proposed method.
A Level Training Set with both a Computer-Based Control and a Compact Control...ijesajournal
In engineering education, the combination with theoretical education and practical education is an
essential problem. The taught knowledge can be quickly forgotten without an experimental application. In
addition, the theoretical knowledge’s cannot be easily associated applications by students when they start
working in industry. To eliminate these problems, a number of education tools have been developed in
engineering education. This article presents a modelling, simulation and practice study of a newly designed
liquid level training set developed for the control engineering students to simulate, examine and analyze
theoretically and experimentally the controllers widely used in the control of many industrial processes.
The newly designed training set combines two control structures, which are a computer-based control and
a digital signal processing-based control. The set displays the results related to experiments in real time as
well as. These features have made it a suitable laboratory component on which the students can both
simulate and test the performance of liquid level control systems by using theoretical different control
structures.
A LEVEL TRAINING SET WITH BOTH A COMPUTER- BASED CONTROL AND A COMPACT CONTRO...ijesajournal
In engineering education, the combination with theoretical education and practical education is an essential problem. The taught knowledge can be quickly forgotten without an xperimental application. In addition, the theoretical knowledge’s cannot be easily associated applications by students when they start
working in industry. To eliminate these problems, a number of education tools have been developed in engineering education. This article presents a modelling, simulation and practice study of a newly designed liquid level training set developed for the control engineering students to simulate, examine and analyze
theoretically and experimentally the controllers widely used in the control of many industrial processes. The newly designed training set combines two control structures, which are a computer-based control and a digital signal processing-based control. The set displays the results related to experiments in real time as
well as. These features have made it a suitable laboratory component on which the students can both simulate and test the performance of liquid level control systems by using theoretical different control structures.
EHR ATTRIBUTE-BASED ACCESS CONTROL (ABAC) FOR FOG COMPUTING ENVIRONMENTcsandit
Liquid level tanks are employed in many industrial and chemical areas. Their level must be keep
a defined point or between maximum-minimum points depending on changing of inlet and outlet
liquid quantities. In order to overcome the problem, many level control methods have been
developed. In the paper, it was aimed that obtain a mathematical model of an installed liquid
level tank system. Then, the mathematical model was derived from the installed system
depending on the sizes of the liquid level tank. According to some proportional-integralderivative
(PID) parameters, the model was simulated by using MATLAB/Simulink program.
After that, data of the liquid level tank were taken into a computer by employing data
acquisition cards (DAQs). Lastly, the computer-controlled liquid level control was successfully
practiced through a written computer program embedded into a PID algorithm used the PID
parameters obtained from the simulations into Advantech VisiDAQ software
Analysis and Modeling of PID and MRAC Controllers for a Quadruple Tank System...dbpublications
Multivariable systems exhibit complex dynamics because of the interactions between input variables and output variables. In this paper an approach to design auto tuned decentralized PI controller using ideal decoupler and adaptive techniques for controlling a class of multivariable process with a transmission zero. By using decoupler, the MIMO system is transformed into two SISO systems. The controller parameters were adjusted using the Model Reference Adaptive reference Control. In recent process industries, PID and MRAC are the two widely accepted control strategies, where PID is used at regulatory level control and MRAC at supervisory level control. In this project, LabVIEW is used to simulate the PID with Decoupler and MRAC separately and analyze their performance based on steady state error tracking and overshoot.
HYBRID FUZZY LOGIC AND PID CONTROLLER FOR PH NEUTRALIZATION PILOT PLANTijfls
Use of Control theory within process control industries has changed rapidly due to the increase complexity
of instrumentation, real time requirements, minimization of operating costs and highly nonlinear
characteristics of chemical process. Previously developed process control technologies which are mostly
based on a single controller are not efficient in terms of signal transmission delays, processing power for
computational needs and signal to noise ratio. Hybrid controller with efficient system modelling is essential
to cope with the current challenges of process control in terms of control performance. This paper presents
an optimized mathematical modelling and advance hybrid controller (Fuzzy Logic and PID) design along
with practical implementation and validation of pH neutralization pilot plant. This procedure is
particularly important for control design and automation of Physico-chemical systems for process control
industry.
Constrained discrete model predictive control of a greenhouse system temperatureIJECEIAES
In this paper, a constrained discete model predictive control (CDMPC) strategy for a greenhouse inside temperature is presented. To describe the dynamics of our system’s inside temperature, an experimental greenhouse prototype is engaged. For the mathematical modeling, a state space form which fits properly the acquired data of the greenhouse temperature dynamics is identified using the subspace system identification (N4sid) algorithm. The obtained model is used in order to develop the CDMPC starategy which role is to select the best control moves based on an optimization procedure under the constraints on the control notion. For efficient evaluation of the proposed control approach MATLAB/Simulink and Yalmip optimization toolbox are used for algorithm and blocks implementation. The simulation results confirm the accuracy of the controller that garantees both the control and the reference tracking objectives.
A new technique to reduce overshoot in pneumatic positioning systemTELKOMNIKA JOURNAL
This paper presents a new approach for improving the performance of the pneumatic positioning
system by incorporating a nonlinear gain function with observer system. System identification technique
has been employed to represent the pneumatic system, while a model predictive control (MPC) with
the observer system has been employed as the main controller to control the positioning of the system.
The nonlinear gain function has been incorporated with the control strategy to compensate nonlinearities
and uncertainties inherent in the parameters of the system. Unconstrained and constrained cases of
control signals have been considered in this study. Simulation based on Matlab/Simulink indicated a
reduction in overshoot of the system response for both cases due to additional nonlinear gain function in
the strategy. Furthermore, remarkable enhancement was observed in effectiveness of this function while
incorporated in constrained case, when this new strategy successfully improved the transient response in
the pneumatic positioning system.
This document discusses optimal maintenance policies for repairable systems with linearly increasing hazard rates. It considers a system with a constant repair rate and predetermined availability requirement. There are two maintenance policies: corrective maintenance only, and preventive maintenance at set time intervals. The goal is to determine the preventive maintenance interval that guarantees the availability requirement at minimum cost. Equations are developed to calculate the availability under each policy and the optimal preventive maintenance interval based on both availability and cost. A numerical example is provided to demonstrate the decision process in determining the optimal policy.
A Level Training Set with both a Computer-Based Control and a Compact Control...ijesajournal
In engineering education, the combination with theoretical education and practical education is an
essential problem. The taught knowledge can be quickly forgotten without an experimental application. In
addition, the theoretical knowledge’s cannot be easily associated applications by students when they start
working in industry. To eliminate these problems, a number of education tools have been developed in
engineering education. This article presents a modelling, simulation and practice study of a newly designed
liquid level training set developed for the control engineering students to simulate, examine and analyze
theoretically and experimentally the controllers widely used in the control of many industrial processes.
The newly designed training set combines two control structures, which are a computer-based control and
a digital signal processing-based control. The set displays the results related to experiments in real time as
well as. These features have made it a suitable laboratory component on which the students can both
simulate and test the performance of liquid level control systems by using theoretical different control
structures.
A LEVEL TRAINING SET WITH BOTH A COMPUTER- BASED CONTROL AND A COMPACT CONTRO...ijesajournal
In engineering education, the combination with theoretical education and practical education is an essential problem. The taught knowledge can be quickly forgotten without an xperimental application. In addition, the theoretical knowledge’s cannot be easily associated applications by students when they start
working in industry. To eliminate these problems, a number of education tools have been developed in engineering education. This article presents a modelling, simulation and practice study of a newly designed liquid level training set developed for the control engineering students to simulate, examine and analyze
theoretically and experimentally the controllers widely used in the control of many industrial processes. The newly designed training set combines two control structures, which are a computer-based control and a digital signal processing-based control. The set displays the results related to experiments in real time as
well as. These features have made it a suitable laboratory component on which the students can both simulate and test the performance of liquid level control systems by using theoretical different control structures.
EHR ATTRIBUTE-BASED ACCESS CONTROL (ABAC) FOR FOG COMPUTING ENVIRONMENTcsandit
Liquid level tanks are employed in many industrial and chemical areas. Their level must be keep
a defined point or between maximum-minimum points depending on changing of inlet and outlet
liquid quantities. In order to overcome the problem, many level control methods have been
developed. In the paper, it was aimed that obtain a mathematical model of an installed liquid
level tank system. Then, the mathematical model was derived from the installed system
depending on the sizes of the liquid level tank. According to some proportional-integralderivative
(PID) parameters, the model was simulated by using MATLAB/Simulink program.
After that, data of the liquid level tank were taken into a computer by employing data
acquisition cards (DAQs). Lastly, the computer-controlled liquid level control was successfully
practiced through a written computer program embedded into a PID algorithm used the PID
parameters obtained from the simulations into Advantech VisiDAQ software
Analysis and Modeling of PID and MRAC Controllers for a Quadruple Tank System...dbpublications
Multivariable systems exhibit complex dynamics because of the interactions between input variables and output variables. In this paper an approach to design auto tuned decentralized PI controller using ideal decoupler and adaptive techniques for controlling a class of multivariable process with a transmission zero. By using decoupler, the MIMO system is transformed into two SISO systems. The controller parameters were adjusted using the Model Reference Adaptive reference Control. In recent process industries, PID and MRAC are the two widely accepted control strategies, where PID is used at regulatory level control and MRAC at supervisory level control. In this project, LabVIEW is used to simulate the PID with Decoupler and MRAC separately and analyze their performance based on steady state error tracking and overshoot.
HYBRID FUZZY LOGIC AND PID CONTROLLER FOR PH NEUTRALIZATION PILOT PLANTijfls
Use of Control theory within process control industries has changed rapidly due to the increase complexity
of instrumentation, real time requirements, minimization of operating costs and highly nonlinear
characteristics of chemical process. Previously developed process control technologies which are mostly
based on a single controller are not efficient in terms of signal transmission delays, processing power for
computational needs and signal to noise ratio. Hybrid controller with efficient system modelling is essential
to cope with the current challenges of process control in terms of control performance. This paper presents
an optimized mathematical modelling and advance hybrid controller (Fuzzy Logic and PID) design along
with practical implementation and validation of pH neutralization pilot plant. This procedure is
particularly important for control design and automation of Physico-chemical systems for process control
industry.
Constrained discrete model predictive control of a greenhouse system temperatureIJECEIAES
In this paper, a constrained discete model predictive control (CDMPC) strategy for a greenhouse inside temperature is presented. To describe the dynamics of our system’s inside temperature, an experimental greenhouse prototype is engaged. For the mathematical modeling, a state space form which fits properly the acquired data of the greenhouse temperature dynamics is identified using the subspace system identification (N4sid) algorithm. The obtained model is used in order to develop the CDMPC starategy which role is to select the best control moves based on an optimization procedure under the constraints on the control notion. For efficient evaluation of the proposed control approach MATLAB/Simulink and Yalmip optimization toolbox are used for algorithm and blocks implementation. The simulation results confirm the accuracy of the controller that garantees both the control and the reference tracking objectives.
A new technique to reduce overshoot in pneumatic positioning systemTELKOMNIKA JOURNAL
This paper presents a new approach for improving the performance of the pneumatic positioning
system by incorporating a nonlinear gain function with observer system. System identification technique
has been employed to represent the pneumatic system, while a model predictive control (MPC) with
the observer system has been employed as the main controller to control the positioning of the system.
The nonlinear gain function has been incorporated with the control strategy to compensate nonlinearities
and uncertainties inherent in the parameters of the system. Unconstrained and constrained cases of
control signals have been considered in this study. Simulation based on Matlab/Simulink indicated a
reduction in overshoot of the system response for both cases due to additional nonlinear gain function in
the strategy. Furthermore, remarkable enhancement was observed in effectiveness of this function while
incorporated in constrained case, when this new strategy successfully improved the transient response in
the pneumatic positioning system.
This document discusses optimal maintenance policies for repairable systems with linearly increasing hazard rates. It considers a system with a constant repair rate and predetermined availability requirement. There are two maintenance policies: corrective maintenance only, and preventive maintenance at set time intervals. The goal is to determine the preventive maintenance interval that guarantees the availability requirement at minimum cost. Equations are developed to calculate the availability under each policy and the optimal preventive maintenance interval based on both availability and cost. A numerical example is provided to demonstrate the decision process in determining the optimal policy.
Application of a Reaction Kinetic Model for OnlLine Model Dynamic Control & O...James Bixby
1) The document describes how a reaction kinetic model was developed and applied for online dynamic control and optimization of batch and continuous reactor systems.
2) The model was used to optimize temperature profiles, increase reactor capacity, and improve product consistency for both batch and continuous processes.
3) For the continuous process, the model also helped improve transient response to disturbances by evaluating control strategies to tightly control intermediate species concentrations like B.
Distributed Control System Applied in Temperatur Control by Coordinating Mult...TELKOMNIKA JOURNAL
In Distributed Control System (DCS), multitasking management has been important issues
continuously researched and developed. In this paper, DCS was applied in global temperature control
system by coordinating three Local Control Units (LCUs). To design LCU’s controller parameters, both
analytical and experimental method were employed. In analytical method, the plants were firstly identified
to get their transfer functions which were then used to derive control parameters based on desired
response qualities. The experimental method (Ziegler-Nichols) was also applied due to practicable reason
in real industrial plant (less mathematical analysis). To manage set-points distributed to all LCUs, master
controller was subsequently designed based on zone of both error and set-point of global temperature
controller. Confirmation experiments showed that when using control parameters from analytical method,
the global temperature response could successfully follow the distributed set-points with 0% overshoot,
193.92 second rise time, and 266.88 second settling time. While using control parameters from
experimental method, it could also follow the distributed set-points with presence of overshoot (16.9%), but
has less rise time and settling time (111.36 and 138.72 second). In this research, the overshoot could be
successfully decreased from 16.9 to 9.39 % by changing master control rule. This proposed method can
be potentially applied in real industrial plant due to its simplicity in master control algorithm and presence
of PID controller which has been generally included in today industrial equipments.
INDUCTIVE LOGIC PROGRAMMING FOR INDUSTRIAL CONTROL APPLICATIONScsandit
Advanced Monitoring Systems of the processes constitute a higher level to the systems of control
and use specific techniques and methods. An important part of the task of supervision focuses on
the detection and the diagnosis of various situations of faults which can affect the process.
Methods of fault detection and diagnosis (FDD) are different from the type of knowledge about
the process that they require. They can be classified as data-driven, analytical, or knowledgebased
approach. A collaborative FDD approach that combines the strengths of various
heterogeneous FDD methods is able to maximize diagnostic performance. The new generation
of knowledge-based systems or decision support systems needs to tap into knowledge that is
both very broad, but specific to a domain, combining learning, structured representations of
domain knowledge such as ontologies and reasoning tools. In this paper, we present a decisionaid
tool in case of malfunction of high power industrial steam boiler. For this purpose an
ontology was developed and considered as a prior conceptual knowledge in Inductive Logic
Programming (ILP) for inducing diagnosis rules. The next step of the process concerns the
inclusion of rules acquired by induction in the knowledge base as well as their exploitation for
reasoning.
A transition from manual to Intelligent Automated power system operation -A I...IJECEIAES
This paper reviews the transition of the power system operation from the traditional manual mode of power system operations to the level where automation using Internet of Things (IOT) and intelligence using Artificial Intelligence (AI) is implemented. To make the review paper brief only indicative papers are chosen to cover multiple power system operation based implementation. Care is taken there is lesser repeatation of similar technology or application be reviewed. The indicative review is to take only a representative literature to bypass scrutinizing multiple literatures with similar objectives and methods. A brief review of the slow transition from the traditional to the intelligent automated way of carrying out power system operations like the energy audit, load forecasting, fault detection, power quality control, smart grid technology, islanding detection, energy management etc is discussed .The Mechanical Engineering Perspective on the basis of applications would be noticed in the paper although the energy management and power delivery concepts are electrical.
This document describes a project to develop analytical and empirical models for controlling the level in a two tank system. The project involved modeling the process dynamics, collecting experimental data using different control modes, tuning PID parameters using software, and validating the models. The goals were to demonstrate the modeling procedure and key skills in process control, such as developing numerical models, tuning controllers, and performing operational tests. Controlling liquid levels has various industrial applications. This project helped reveal modeling and tuning methods that can be used by process control technicians.
An Algorithm Based Simulation Modeling For Control of Production SystemsIJMER
This document describes an algorithm-based simulation approach for modeling and controlling flexible production systems. The approach models both the physical production system and the control system to evaluate their integrated performance. Key features include:
1) The approach integrates control system design into the physical simulation to evaluate their combined impact.
2) The algorithm-based design is extensible and allows modeling of different control programs and production system designs.
3) Finite automata formalism provides a mathematical foundation for logical and quantitative analysis of the system.
4) The framework facilitates robust controller models that can resolve issues like deadlocks and accommodate failures.
5) Analysts can evaluate how different control programs and production system designs impact
Online flooding monitoring in packed towersJames Cao
This document proposes an enhanced data-driven method called EDPCA for online flooding monitoring in packed towers. EDPCA improves upon DPCA (dynamic principal component analysis) monitoring by first using fuzzy c-means clustering to separate historical data into subsets. Then, multiple single DPCA models are trained on each subset. When a new data point arrives, each DPCA model evaluates it, and the results are integrated using Bayesian inference to obtain the overall monitoring result. The method was tested on an air-water packed tower and showed better performance than single DPCA monitoring.
Modified smith predictor based cascade control of unstable time delay processesISA Interchange
An improved cascade control structure with a modified Smith predictor is proposed for controlling open-loop unstable time delay processes. The proposed structure has three controllers of which one is meant for servo response and the other two are for regulatory responses. An analytical design method is derived for the two disturbance rejection controllers by proposing the desired closed-loop complementary sensitivity functions. These two closed-loop controllers are considered in the form of proportional–integral-derivative (PID) controller cascaded with a second order lead/lag filter. The direct synthesis method is used to design the setpoint tracking controller. By virtue of the enhanced structure, the proposed control scheme decouples the servo response from the regulatory response in case of nominal systems i.e., the setpoint tracking controller and the disturbance rejection controller can be tuned independently. Internal stability of the proposed cascade structure is analyzed. Kharitonov’s theorem is used for the robustness analysis. The disturbance rejection capability of the proposed scheme is superior as compared to existing methods. Examples are also included to illustrate the simplicity and usefulness of the proposed method.
1. The document discusses energy audits, which are tools used to identify areas of energy inefficiency and waste. Energy audits provide a systematic approach to measure energy use, identify losses, calculate actual consumption, and provide solutions to improve efficiency.
2. An energy audit involves verifying, monitoring, and analyzing energy use through measurement and analysis of consumption reports. The audit identifies opportunities for improved energy efficiency to provide benefits like cost savings, increased comfort, and equipment longevity.
3. Proper energy audits follow specific methodological steps including documentation review, facility inspection, staff interviews, utility analysis, evaluation of potential efficiency improvements, and reporting of findings and recommendations.
Analogous Electrical Model of Water Processing Plant as a Tool to Study “The ...ijctcm
This paper presents an analogous electrical model for water processing plant. The three major components of the plant; the connecting pipes, the water tanks and the filter have been modeled here by resistors, capacitors and inductors of an electrical circuit as a model of the plant. The mechanical properties of these components are thus represented by equivalent electrical properties as resistance, capacitance and inductance, respectively. In these representations the resistance is expressed as a function of both the cross sectional area (A) and the length (L) of the pipes; and the capacitance is expressed as a function of the Area of the tanks (capacity of tank), while the inductance (constriction to debris) is expressed as a function of number of wound string on the filter cartridge. From the results of the simulation, it was observed that by varying the electrical parameters (resistors, capacitors, inductor), it is possible to study the way the manipulation of equivalent parameters of the analogous mechanical components (the connecting pipes, the water tanks and the water filter) of the water plant could influence the rate of water flow in the production process. This work does demonstrate the possibility of knowing from the beginning the various sizes of pipes, tanks and filter to be used and how these will affect the flow of water in the plant before going into the physical construction of the plant. This method could be used in a more complex system.
We are a young company promoted by IIT Alumni. We provide services which helps individuals and organizations to take the "Green Route" for cleaner future. Our services includes Energy Audit, EPCM for Renewable energy (Solar & Bio-mass) Projects, Technology Evaluation (Research & Analysis) and carbon management services(footprint, mitigation and branding)
This document summarizes an experiment that used a Ziegler-Nichols tuning method to control the pH of a buffered solution with a PID controller. A titration curve determined the buffer region of 6.25-8.35 pH. Different controller types (P, PI, PID) were tested by manually adjusting parameters. For the PI controller, sustained oscillations determined an ultimate period of 21 seconds. Using Ziegler-Nichols relations, PID parameters were calculated as proportional band of 1%, reset time of 12 seconds, and derivative time of 3 seconds. These optimized PID settings produced the fastest rise time and least steady state offset.
This document presents a neural network model predictive control (NNMPC) approach for an evaporator system at a dairy plant in Iraq. The evaporator system has three effects with two preheaters. Nonlinear models are developed for each component based on mass and energy balances. A NNMPC controller is designed and tested in simulation. Results show the NNMPC can accurately model and control the evaporator system, performing better than traditional PID control. Training a neural network model allows the NNMPC to handle the nonlinear dynamics. The NNMPC is able to maintain constant product concentration despite disturbances to the feed flow and concentration.
A novel auto-tuning method for fractional order PID controllersISA Interchange
Fractional order PID controllers benefit from an increasing amount of interest from the research community due to their proven advantages. The classical tuning approach for these controllers is based on specifying a certain gain crossover frequency, a phase margin and a robustness to gain variations. To tune the fractional order controllers, the modulus, phase and phase slope of the process at the imposed gain crossover frequency are required. Usually these values are obtained from a mathematical model of the process, e.g. a transfer function. In the absence of such model, an auto-tuning method that is able to estimate these values is a valuable alternative. Auto-tuning methods are among the least discussed design methods for fractional order PID controllers. This paper proposes a novel approach for the auto-tuning of fractional order controllers. The method is based on a simple experiment that is able to determine the modulus, phase and phase slope of the process required in the computation of the controller parameters. The proposed design technique is simple and efficient in ensuring the robustness of the closed loop system. Several simulation examples are presented, including the control of processes exhibiting integer and fractional order dynamics.
DESIGN OF PID CONTROLLERS INTEGRATOR SYSTEM WITH TIME DELAY AND DOUBLE INTEGR...ijics
In this paper first we investigate optimal PID control of a double integrating plus delay process and compare with the SIMC rules. What makes the double integrating process special is that derivative action is actually necessary for stabilization. In control, there is generally a trade-off between performance and
robustness, so there does not exist a single optimal controller. However, for a given robustness level (here defined in terms of the Ms-value) we can find the optimal controller which minimizes the performance J (here defined as the integrated absolute error (IAE)-value for disturbances). Interestingly, the SIMC PID controller is almost identical to the optimal pid controller. This can be seen by comparing the paretooptimal
curve for J as a function of Ms, with the curve found by varying the SIMC tuning parameter Tc.
Second, design of Proportional Integral and Derivative (PID) controllers based on internal model control (IMC) principles, direct synthesis method (DS), stability analysis (SA) method for pure integrating process with time delay is proposed. The performances of the proposed controllers are compared with the
controllers designed by recently reported methods. The robustness of the proposed controllers for the uncertainty in model parameters is evaluated considering one parameter at a time using Kharitonov’s theorem. The proposed controllers are applied to various transfer function models and to non linear model of isothermal continuous copolymerization of styrene-acrylonitrile in CSTR. An experimental set up of tank
with the outlet connected to a pump is considered for implementation of the PID controllers designed by
the three proposed methods to show the effectiveness of the methods.
DESIGN OF PID CONTROLLERS INTEGRATOR SYSTEM WITH TIME DELAY AND DOUBLE INTEGR...ijcisjournal
This document discusses PID controller design methods for integrating processes with time delay. It proposes designing PID controllers using three methods: internal model control (IMC), direct synthesis, and stability analysis. It evaluates the performance of controllers designed with these methods by applying them to models of various chemical processes that can be represented by integrating processes with time delay. These include level control systems, distillation columns, and continuous stirred-tank reactors. The robustness of the proposed controllers is analyzed considering parameter uncertainty using Kharitonov's theorem. Simulation results show the proposed IMC method provides superior performance over other existing tuning methods. An experimental setup is used to validate the effectiveness of the proposed design methods.
Decentralised PI controller design based on dynamic interaction decoupling in...IJECEIAES
An enhanced method for design of decenralised proportional integral (PI) controllers to control various variables of flotation columns is proposed. These columns are multivariable processes characterised by multiple interacting manipulated and controlled variables. The control of more than one variable is not an easy problem to solve as a change in a specific manipulated variable affects more than one controlled variable. Paper proposes an improved method for design of decentralized PI controllers through the introduction of decoupling of the interconnected model of the process. Decoupling the system model has proven to be an effective strategy to reduce the influence of the interactions in the closed-loop control and consistently to keep the system stable. The mathematical derivations and the algorithm of the design procedure are described in detail. The behaviour and performance of the closed-loop systems without and with the application of the decoupling method was investigated and compared through simulations in MATLAB/Simulink. The results show that the decouplers - based closedloop system has better performance than the closed-loop system without decouplers. The highest improvement (2 to 50 times) is in the steady-state error and 1.2 to 7 times in the settling and rising time. Controllers can easily be implemented.
Design a WSN Control System for Filter Backwashing ProcessIJMERJOURNAL
ABSTRACT: Day by day, there is a higher rate of need for accurate automation system to be used in industries and environment monitoring and control. In water treatment plants during the filtration phase, there is a process called backwashing, which particles suspended in the filter basin are removed. in this process the water are forcedly pumped through the filter in upward direction at enough speed to expand the filter media. Therefore, various types of valves used, which are opened and closed in a time sequencing manner. The paper proposed an automation control system for the backwashing process to be initiated and completed automatically using PLC, level sensors and valves installed inside the filter basin. Practically, a control system has been applied which all valves are opened and closed according to wireless signals coming from PLCs on its suitable time. In summary, the control in the process demonstrated that the proposed system is efficient, effective, and able to be reliable. Besides, the results increase the productivity at a low-cost mode.
IMC Based Fractional Order Controller for Three Interacting Tank ProcessTELKOMNIKA JOURNAL
This document presents a study on using Internal Model Control (IMC) with fractional-order filters for controlling the liquid level in a three interacting tank process. The third-order nonlinear model of the three tank system is first reduced to a fractional-order first-order plus dead time (FO-FOPDT) model to simplify the controller design. IMC controllers with different integer and fractional-order filters are then designed and optimized using a genetic algorithm. Simulations show that the fractional-order modeled system and fractional-order filters achieve better control performance than conventional integer-order approaches.
Hybrid controller design using gain scheduling approach for compressor systemsIJECEIAES
The automatic control system plays a crucial role in industries for controlling the process operations. The automatic control system provides a safe and proper controlling mechanism to avoid environmental and quality problems. The control system controls pressure flow, mass flow, speed control, and other process metrics and solves robustness and stability issues. In this manuscript, The Hybrid controller approach like proportional integral (PI) and proportional derivative (PD) based fuzzy logic controller (FLC) using with and without gain scheduling approach is modeled for the compressor to improve the robustness and error response control mechanism. The PI/PD-based FLC system includes step input function, the PI/PD controller, FLC with a closed-loop mechanism, and gain scheduler. The error signals and control response outputs are analyzed in detail for PI/PD-based FLC’s and compared with conventional PD/PID controllers. The PD-based FLC with the Gain scheduling approach consumes less overshoot time of 74% than the PD-based FLC without gain scheduling approach. The PD-based FLC with the gain scheduling approach produces less error response in terms of 7.9% in integral time absolute error (ITAE), 7.4% in integral absolute error (IAE), and 16% in integral square error (ISE) than PD based FLC without gain scheduling approach.
Decentralized proportional-integral controller based on dynamic decoupling t...IJECEIAES
An improved technique for the design of decentralized dynamic decoupled proportional-integral (PI) controllers to control many variables of column flotation was developed and implemented in this paper. This work was motivated by challenges when working with multiple inputs and multiple outputs (MIMO) systems that are not controllable by conventional linear feedback controllers. Conventional feedback control design consists of various drawbacks when it comes to complex industrial processes. The introduction of decentralization, decoupling, and many advanced controls design methods overcomes these drawbacks. Hence, the design and implementation of control systems that mitigate stability for MIMO systems are important. The developed closed-loop model of the flotation process is implemented in a real-time platform using TwinCAT 3.1 automation software and CX5020 Beckhoff programmable logic controllers (PLC) through the model transformation technique. The reasons for using the CX5020 as an implementation environment were motivated by the reliability, and is built according to new industry standards, allowing transformation, which makes it more advantageous to be used more than any other PLCs. This is done to validate the effectiveness of the recommended technique and prove its usability for any multivariable system. Comparable numerical results are presented, and they imply that industrial usage of this method is highly recommended.
Application of a Reaction Kinetic Model for OnlLine Model Dynamic Control & O...James Bixby
1) The document describes how a reaction kinetic model was developed and applied for online dynamic control and optimization of batch and continuous reactor systems.
2) The model was used to optimize temperature profiles, increase reactor capacity, and improve product consistency for both batch and continuous processes.
3) For the continuous process, the model also helped improve transient response to disturbances by evaluating control strategies to tightly control intermediate species concentrations like B.
Distributed Control System Applied in Temperatur Control by Coordinating Mult...TELKOMNIKA JOURNAL
In Distributed Control System (DCS), multitasking management has been important issues
continuously researched and developed. In this paper, DCS was applied in global temperature control
system by coordinating three Local Control Units (LCUs). To design LCU’s controller parameters, both
analytical and experimental method were employed. In analytical method, the plants were firstly identified
to get their transfer functions which were then used to derive control parameters based on desired
response qualities. The experimental method (Ziegler-Nichols) was also applied due to practicable reason
in real industrial plant (less mathematical analysis). To manage set-points distributed to all LCUs, master
controller was subsequently designed based on zone of both error and set-point of global temperature
controller. Confirmation experiments showed that when using control parameters from analytical method,
the global temperature response could successfully follow the distributed set-points with 0% overshoot,
193.92 second rise time, and 266.88 second settling time. While using control parameters from
experimental method, it could also follow the distributed set-points with presence of overshoot (16.9%), but
has less rise time and settling time (111.36 and 138.72 second). In this research, the overshoot could be
successfully decreased from 16.9 to 9.39 % by changing master control rule. This proposed method can
be potentially applied in real industrial plant due to its simplicity in master control algorithm and presence
of PID controller which has been generally included in today industrial equipments.
INDUCTIVE LOGIC PROGRAMMING FOR INDUSTRIAL CONTROL APPLICATIONScsandit
Advanced Monitoring Systems of the processes constitute a higher level to the systems of control
and use specific techniques and methods. An important part of the task of supervision focuses on
the detection and the diagnosis of various situations of faults which can affect the process.
Methods of fault detection and diagnosis (FDD) are different from the type of knowledge about
the process that they require. They can be classified as data-driven, analytical, or knowledgebased
approach. A collaborative FDD approach that combines the strengths of various
heterogeneous FDD methods is able to maximize diagnostic performance. The new generation
of knowledge-based systems or decision support systems needs to tap into knowledge that is
both very broad, but specific to a domain, combining learning, structured representations of
domain knowledge such as ontologies and reasoning tools. In this paper, we present a decisionaid
tool in case of malfunction of high power industrial steam boiler. For this purpose an
ontology was developed and considered as a prior conceptual knowledge in Inductive Logic
Programming (ILP) for inducing diagnosis rules. The next step of the process concerns the
inclusion of rules acquired by induction in the knowledge base as well as their exploitation for
reasoning.
A transition from manual to Intelligent Automated power system operation -A I...IJECEIAES
This paper reviews the transition of the power system operation from the traditional manual mode of power system operations to the level where automation using Internet of Things (IOT) and intelligence using Artificial Intelligence (AI) is implemented. To make the review paper brief only indicative papers are chosen to cover multiple power system operation based implementation. Care is taken there is lesser repeatation of similar technology or application be reviewed. The indicative review is to take only a representative literature to bypass scrutinizing multiple literatures with similar objectives and methods. A brief review of the slow transition from the traditional to the intelligent automated way of carrying out power system operations like the energy audit, load forecasting, fault detection, power quality control, smart grid technology, islanding detection, energy management etc is discussed .The Mechanical Engineering Perspective on the basis of applications would be noticed in the paper although the energy management and power delivery concepts are electrical.
This document describes a project to develop analytical and empirical models for controlling the level in a two tank system. The project involved modeling the process dynamics, collecting experimental data using different control modes, tuning PID parameters using software, and validating the models. The goals were to demonstrate the modeling procedure and key skills in process control, such as developing numerical models, tuning controllers, and performing operational tests. Controlling liquid levels has various industrial applications. This project helped reveal modeling and tuning methods that can be used by process control technicians.
An Algorithm Based Simulation Modeling For Control of Production SystemsIJMER
This document describes an algorithm-based simulation approach for modeling and controlling flexible production systems. The approach models both the physical production system and the control system to evaluate their integrated performance. Key features include:
1) The approach integrates control system design into the physical simulation to evaluate their combined impact.
2) The algorithm-based design is extensible and allows modeling of different control programs and production system designs.
3) Finite automata formalism provides a mathematical foundation for logical and quantitative analysis of the system.
4) The framework facilitates robust controller models that can resolve issues like deadlocks and accommodate failures.
5) Analysts can evaluate how different control programs and production system designs impact
Online flooding monitoring in packed towersJames Cao
This document proposes an enhanced data-driven method called EDPCA for online flooding monitoring in packed towers. EDPCA improves upon DPCA (dynamic principal component analysis) monitoring by first using fuzzy c-means clustering to separate historical data into subsets. Then, multiple single DPCA models are trained on each subset. When a new data point arrives, each DPCA model evaluates it, and the results are integrated using Bayesian inference to obtain the overall monitoring result. The method was tested on an air-water packed tower and showed better performance than single DPCA monitoring.
Modified smith predictor based cascade control of unstable time delay processesISA Interchange
An improved cascade control structure with a modified Smith predictor is proposed for controlling open-loop unstable time delay processes. The proposed structure has three controllers of which one is meant for servo response and the other two are for regulatory responses. An analytical design method is derived for the two disturbance rejection controllers by proposing the desired closed-loop complementary sensitivity functions. These two closed-loop controllers are considered in the form of proportional–integral-derivative (PID) controller cascaded with a second order lead/lag filter. The direct synthesis method is used to design the setpoint tracking controller. By virtue of the enhanced structure, the proposed control scheme decouples the servo response from the regulatory response in case of nominal systems i.e., the setpoint tracking controller and the disturbance rejection controller can be tuned independently. Internal stability of the proposed cascade structure is analyzed. Kharitonov’s theorem is used for the robustness analysis. The disturbance rejection capability of the proposed scheme is superior as compared to existing methods. Examples are also included to illustrate the simplicity and usefulness of the proposed method.
1. The document discusses energy audits, which are tools used to identify areas of energy inefficiency and waste. Energy audits provide a systematic approach to measure energy use, identify losses, calculate actual consumption, and provide solutions to improve efficiency.
2. An energy audit involves verifying, monitoring, and analyzing energy use through measurement and analysis of consumption reports. The audit identifies opportunities for improved energy efficiency to provide benefits like cost savings, increased comfort, and equipment longevity.
3. Proper energy audits follow specific methodological steps including documentation review, facility inspection, staff interviews, utility analysis, evaluation of potential efficiency improvements, and reporting of findings and recommendations.
Analogous Electrical Model of Water Processing Plant as a Tool to Study “The ...ijctcm
This paper presents an analogous electrical model for water processing plant. The three major components of the plant; the connecting pipes, the water tanks and the filter have been modeled here by resistors, capacitors and inductors of an electrical circuit as a model of the plant. The mechanical properties of these components are thus represented by equivalent electrical properties as resistance, capacitance and inductance, respectively. In these representations the resistance is expressed as a function of both the cross sectional area (A) and the length (L) of the pipes; and the capacitance is expressed as a function of the Area of the tanks (capacity of tank), while the inductance (constriction to debris) is expressed as a function of number of wound string on the filter cartridge. From the results of the simulation, it was observed that by varying the electrical parameters (resistors, capacitors, inductor), it is possible to study the way the manipulation of equivalent parameters of the analogous mechanical components (the connecting pipes, the water tanks and the water filter) of the water plant could influence the rate of water flow in the production process. This work does demonstrate the possibility of knowing from the beginning the various sizes of pipes, tanks and filter to be used and how these will affect the flow of water in the plant before going into the physical construction of the plant. This method could be used in a more complex system.
We are a young company promoted by IIT Alumni. We provide services which helps individuals and organizations to take the "Green Route" for cleaner future. Our services includes Energy Audit, EPCM for Renewable energy (Solar & Bio-mass) Projects, Technology Evaluation (Research & Analysis) and carbon management services(footprint, mitigation and branding)
This document summarizes an experiment that used a Ziegler-Nichols tuning method to control the pH of a buffered solution with a PID controller. A titration curve determined the buffer region of 6.25-8.35 pH. Different controller types (P, PI, PID) were tested by manually adjusting parameters. For the PI controller, sustained oscillations determined an ultimate period of 21 seconds. Using Ziegler-Nichols relations, PID parameters were calculated as proportional band of 1%, reset time of 12 seconds, and derivative time of 3 seconds. These optimized PID settings produced the fastest rise time and least steady state offset.
This document presents a neural network model predictive control (NNMPC) approach for an evaporator system at a dairy plant in Iraq. The evaporator system has three effects with two preheaters. Nonlinear models are developed for each component based on mass and energy balances. A NNMPC controller is designed and tested in simulation. Results show the NNMPC can accurately model and control the evaporator system, performing better than traditional PID control. Training a neural network model allows the NNMPC to handle the nonlinear dynamics. The NNMPC is able to maintain constant product concentration despite disturbances to the feed flow and concentration.
A novel auto-tuning method for fractional order PID controllersISA Interchange
Fractional order PID controllers benefit from an increasing amount of interest from the research community due to their proven advantages. The classical tuning approach for these controllers is based on specifying a certain gain crossover frequency, a phase margin and a robustness to gain variations. To tune the fractional order controllers, the modulus, phase and phase slope of the process at the imposed gain crossover frequency are required. Usually these values are obtained from a mathematical model of the process, e.g. a transfer function. In the absence of such model, an auto-tuning method that is able to estimate these values is a valuable alternative. Auto-tuning methods are among the least discussed design methods for fractional order PID controllers. This paper proposes a novel approach for the auto-tuning of fractional order controllers. The method is based on a simple experiment that is able to determine the modulus, phase and phase slope of the process required in the computation of the controller parameters. The proposed design technique is simple and efficient in ensuring the robustness of the closed loop system. Several simulation examples are presented, including the control of processes exhibiting integer and fractional order dynamics.
DESIGN OF PID CONTROLLERS INTEGRATOR SYSTEM WITH TIME DELAY AND DOUBLE INTEGR...ijics
In this paper first we investigate optimal PID control of a double integrating plus delay process and compare with the SIMC rules. What makes the double integrating process special is that derivative action is actually necessary for stabilization. In control, there is generally a trade-off between performance and
robustness, so there does not exist a single optimal controller. However, for a given robustness level (here defined in terms of the Ms-value) we can find the optimal controller which minimizes the performance J (here defined as the integrated absolute error (IAE)-value for disturbances). Interestingly, the SIMC PID controller is almost identical to the optimal pid controller. This can be seen by comparing the paretooptimal
curve for J as a function of Ms, with the curve found by varying the SIMC tuning parameter Tc.
Second, design of Proportional Integral and Derivative (PID) controllers based on internal model control (IMC) principles, direct synthesis method (DS), stability analysis (SA) method for pure integrating process with time delay is proposed. The performances of the proposed controllers are compared with the
controllers designed by recently reported methods. The robustness of the proposed controllers for the uncertainty in model parameters is evaluated considering one parameter at a time using Kharitonov’s theorem. The proposed controllers are applied to various transfer function models and to non linear model of isothermal continuous copolymerization of styrene-acrylonitrile in CSTR. An experimental set up of tank
with the outlet connected to a pump is considered for implementation of the PID controllers designed by
the three proposed methods to show the effectiveness of the methods.
DESIGN OF PID CONTROLLERS INTEGRATOR SYSTEM WITH TIME DELAY AND DOUBLE INTEGR...ijcisjournal
This document discusses PID controller design methods for integrating processes with time delay. It proposes designing PID controllers using three methods: internal model control (IMC), direct synthesis, and stability analysis. It evaluates the performance of controllers designed with these methods by applying them to models of various chemical processes that can be represented by integrating processes with time delay. These include level control systems, distillation columns, and continuous stirred-tank reactors. The robustness of the proposed controllers is analyzed considering parameter uncertainty using Kharitonov's theorem. Simulation results show the proposed IMC method provides superior performance over other existing tuning methods. An experimental setup is used to validate the effectiveness of the proposed design methods.
Decentralised PI controller design based on dynamic interaction decoupling in...IJECEIAES
An enhanced method for design of decenralised proportional integral (PI) controllers to control various variables of flotation columns is proposed. These columns are multivariable processes characterised by multiple interacting manipulated and controlled variables. The control of more than one variable is not an easy problem to solve as a change in a specific manipulated variable affects more than one controlled variable. Paper proposes an improved method for design of decentralized PI controllers through the introduction of decoupling of the interconnected model of the process. Decoupling the system model has proven to be an effective strategy to reduce the influence of the interactions in the closed-loop control and consistently to keep the system stable. The mathematical derivations and the algorithm of the design procedure are described in detail. The behaviour and performance of the closed-loop systems without and with the application of the decoupling method was investigated and compared through simulations in MATLAB/Simulink. The results show that the decouplers - based closedloop system has better performance than the closed-loop system without decouplers. The highest improvement (2 to 50 times) is in the steady-state error and 1.2 to 7 times in the settling and rising time. Controllers can easily be implemented.
Design a WSN Control System for Filter Backwashing ProcessIJMERJOURNAL
ABSTRACT: Day by day, there is a higher rate of need for accurate automation system to be used in industries and environment monitoring and control. In water treatment plants during the filtration phase, there is a process called backwashing, which particles suspended in the filter basin are removed. in this process the water are forcedly pumped through the filter in upward direction at enough speed to expand the filter media. Therefore, various types of valves used, which are opened and closed in a time sequencing manner. The paper proposed an automation control system for the backwashing process to be initiated and completed automatically using PLC, level sensors and valves installed inside the filter basin. Practically, a control system has been applied which all valves are opened and closed according to wireless signals coming from PLCs on its suitable time. In summary, the control in the process demonstrated that the proposed system is efficient, effective, and able to be reliable. Besides, the results increase the productivity at a low-cost mode.
IMC Based Fractional Order Controller for Three Interacting Tank ProcessTELKOMNIKA JOURNAL
This document presents a study on using Internal Model Control (IMC) with fractional-order filters for controlling the liquid level in a three interacting tank process. The third-order nonlinear model of the three tank system is first reduced to a fractional-order first-order plus dead time (FO-FOPDT) model to simplify the controller design. IMC controllers with different integer and fractional-order filters are then designed and optimized using a genetic algorithm. Simulations show that the fractional-order modeled system and fractional-order filters achieve better control performance than conventional integer-order approaches.
Hybrid controller design using gain scheduling approach for compressor systemsIJECEIAES
The automatic control system plays a crucial role in industries for controlling the process operations. The automatic control system provides a safe and proper controlling mechanism to avoid environmental and quality problems. The control system controls pressure flow, mass flow, speed control, and other process metrics and solves robustness and stability issues. In this manuscript, The Hybrid controller approach like proportional integral (PI) and proportional derivative (PD) based fuzzy logic controller (FLC) using with and without gain scheduling approach is modeled for the compressor to improve the robustness and error response control mechanism. The PI/PD-based FLC system includes step input function, the PI/PD controller, FLC with a closed-loop mechanism, and gain scheduler. The error signals and control response outputs are analyzed in detail for PI/PD-based FLC’s and compared with conventional PD/PID controllers. The PD-based FLC with the Gain scheduling approach consumes less overshoot time of 74% than the PD-based FLC without gain scheduling approach. The PD-based FLC with the gain scheduling approach produces less error response in terms of 7.9% in integral time absolute error (ITAE), 7.4% in integral absolute error (IAE), and 16% in integral square error (ISE) than PD based FLC without gain scheduling approach.
Decentralized proportional-integral controller based on dynamic decoupling t...IJECEIAES
An improved technique for the design of decentralized dynamic decoupled proportional-integral (PI) controllers to control many variables of column flotation was developed and implemented in this paper. This work was motivated by challenges when working with multiple inputs and multiple outputs (MIMO) systems that are not controllable by conventional linear feedback controllers. Conventional feedback control design consists of various drawbacks when it comes to complex industrial processes. The introduction of decentralization, decoupling, and many advanced controls design methods overcomes these drawbacks. Hence, the design and implementation of control systems that mitigate stability for MIMO systems are important. The developed closed-loop model of the flotation process is implemented in a real-time platform using TwinCAT 3.1 automation software and CX5020 Beckhoff programmable logic controllers (PLC) through the model transformation technique. The reasons for using the CX5020 as an implementation environment were motivated by the reliability, and is built according to new industry standards, allowing transformation, which makes it more advantageous to be used more than any other PLCs. This is done to validate the effectiveness of the recommended technique and prove its usability for any multivariable system. Comparable numerical results are presented, and they imply that industrial usage of this method is highly recommended.
Implementation of closed loop control technique for improving the performance...IJERA Editor
this review paper presents closed loop control techniques for controlling the inverter working under different load or KVA ratings. The control strategy of the inverter must guarantee its output waveforms to be sinusoidal with fundamental harmonic. For this purpose, close loop current control strategies such as H∞ repetitive controller, dual closed-loop feedback control, Adaptive Voltage Control, SRFPI controller, Optimal Neural Controller, etc. have been used to meet the power quality requirements imposed by IEEE Interconnection Standards. Based on present scenario regarding energy crises, immediate action is the use of different renewable energy sources (RESs) . Out of RESs, solar is gaining more attention. It is very important to design and developed a system which should be efficient enough to utilize the extracted energy for different types of load and feeding of energy into utility grid. Since experimentation and comparison of such inverter models on hardware being relatively expensive, the latest computing tool like MATLAB are considered to be a better alternative to simulate the outcomes of such expensive systems. The proposed closed loop control technique for the inverter working under linear and nonlinear system will be implemented in MATLAB/SIMULINK working platform and results will be analyzed to check its benefits.
In this paper, a Matlab based GUI and Propotinal Integral Dervative (PID) controller is designed to automatically regulate the flow-rate of the circulating fluid. When fluids are transported over long distances, the pressure and flow rate have to be monitored remotely in a control room. Using an HMI or Control Panels the flow rate can be increased or decreased to compensate for pressure drops or disturbances. This paper attempts to demonstrate such an Industrial Control Operation in a scaled-down environment. A Graphical User Interface or GUI is constructed which enables the Operator to monitor, as well as control an electronically actuated Control Valve which can efficiently regulate the flow-rate. Automatic operations have also been implemented using a PID controller algorithm, which tries to track the Set-point in Real-time.
This paper presents a particle swarm optimization (PSO) algorithm to tune the gains of an integral controller for load frequency control (LFC) in a single-area power system with multiple energy sources (thermal, hydro, gas, and wind). The objective is to minimize the integral absolute error of frequency deviations following a step load change. Simulation results show the PSO-tuned integral controller provides better transient response than an uncontrolled system, with reduced settling time, peak overshoot, and oscillations.
Analogous Electrical Model of Water Processing Plant as a Tool to Study “The ...ijctcm
This paper presents an analogous electrical model for water processing plant. The three major components of the plant; the connecting pipes, the water tanks and the filter have been modeled here by resistors, capacitors and inductors of an electrical circuit as a model of the plant. The mechanical properties of these components are thus represented by equivalent electrical properties as resistance, capacitance and inductance, respectively. In these representations the resistance is expressed as a function of both the cross sectional area (A) and the length (L) of the pipes; and the capacitance is expressed as a function of the Area of the tanks (capacity of tank), while the inductance (constriction to debris) is expressed as a function of number of wound string on the filter cartridge. From the results of the simulation, it was observed that by varying the electrical parameters (resistors, capacitors, inductor), it is possible to study the way the manipulation of equivalent parameters of the analogous mechanical components (the connecting pipes, the water tanks and the water filter) of the water plant could influence the rate of water flow in the production process. This work does demonstrate the possibility of knowing from the beginning the various sizes of pipes, tanks and filter to be used and how these will affect the flow of water in the plant before going into the physical construction of the plant. This method could be used in a more complex system.
AUTOMATION OF WATER TREATMENT PLANT USING PLCIRJET Journal
This document discusses automating a water treatment plant using a programmable logic controller (PLC). It begins with an introduction to the need for automation in water treatment to improve efficiency and reduce human error. It then provides details on the various processes involved in water treatment like reverse osmosis and ultraviolet light. It presents a block diagram of a water treatment system with inputs like level and flow sensors and outputs like pumps and alarms that would be controlled by the PLC. The document concludes that automating the water treatment processes using a PLC can achieve 98-99% efficiency and save valuable water resources.
DESIGN OF CONTROL STRATEGIES FOR THE LOAD FREQUENCY CONTROL (LFC) IN MULTI AR...IAEME Publication
This paper features the Differential Evolution (DE) by controller parameters tuning algorithm
and also an application of a multi source power system to a Load Frequency Control (LFC) by
having several sources of power generation techniques. At first, a single area multi-source power
system using integral controllers for every unit is taken and DE procedure is implemented to attain
the controller parameters. Several mutation procedures of DE are estimated and the control
parameters of DE for best obtained procedure are tuned by implementing numerous runs of
algorithm for every change in parameter. Multi-area multi-source power system is also discussed
and a HDVC link is also taken in accordance with the current AC tie line for the internal
connection between the areas. The two variables of Integrals which are to be enhanced using tuned
DE algorithm are proportional integral and proportional integral derivative.
Movie Review GuidelinesI. Introduction· Genre · Movie Titl.docxroushhsiu
Movie Review Guidelines
I. Introduction
· Genre
· Movie Title
· Director
· Principal location
· Mention your opinion –use a description
· Include the top actor
II. Brief Summary of the Plot
III. Your analysis of the movie’s component’s
· The theme
· The directing
· The acting
· Visual elements
IV. Conclusion
· return to your opinion of the movie
· do you recommend the movie or skip this movie
ChE 460 Literature Review Due: Dec 03, 2019, 11 AM
Paper Review (50 pts.)
Read the paper: “Dissolved oxygen control of the activated sludge wastewater treat-
ment process using model predictive control,” Computers and Chemical Engineering, vol
32, 1270-1278, 2008, and write a note about that paper. Please submit the printed hard
copy. Handwriting version is not accepted.
You need to show and discuss the following contents. Please do not copy and paste
any sentences from that paper.
� Motivations (10 pts.): why is this work important from the industrial or academic
perspective?
� Methodologies (10 pts.): including the modeling and controller design methods.
� Your questions about the method in this paper (10 pts.): Model predictive control
is the state-of-the-art technique for industrial automation. It is very normal that
students cannot easily understand its concept. List all your questions on this
method.
� Comments with critical thinking (10 pts.): List advantages & drawbacks of the
proposed method. Provide your suggestions or possible improvement.
Format Requirement (10 pts.): Print your review on A4 paper, at least two full
pages (not including references), single space, Times New Roman 12, margins 1 inch
on all sides, no figure. Please list references in the end of this review (You can follow
the reference format of Computers and Chemical Engineering). If your report does not
meet above requirements, then you can obtain at most 1 point in this part.
1
Ashraf Al Shekaili
Chemical Engineering 460
Dr. Yu Yang
Literature Review
Dissolved Oxygen Control of The Activated Sludge Wastewater Treatment Process Using Model Predictive Control
The process of waste water treatment is very complex and hard to control due to non-linear behavior system. This happens because of the variation in composition of the incoming wastewater along with disturbances in flow and load. Many control strategies were proposed to control the process; however, their evaluation is difficult due to shortage in the standard evaluation criteria.
The dissolved oxygen in the aerobic reactors play a role in the activity of microorganisms that live in activated sludge. High concentration of dissolved oxygen is required to feed enough oxygen to microorganisms in the sludge so the organic matters will be decomposed. However, excessive dissolved oxygen may lead to increase the operational cost because of high energy consumption.
Building a model to control a process is extremely important for any industry because industries have to meet the effluent requirements of ...
The problem of controlling an unstable delayed double integrating process with fractional delay using a
feed forward first-order lag-lead compensator is studied. The effect of time delay of the process in a range between
0.1 and 0.9 seconds is considered. The compensator is tuned using MATLAB optimization toolbox with five forms
of the objective function in terms of the error between the step time response of the closed-loop control system and
the response steady-state value. Using the proposed compensator with the fractional delayed double integrating
process indicates the robustness of the compensator in the time delay range used with superior time-based
specifications compared with other technique based on PID controller.
Keywords — Delayed double integrating process with fractional delay, Feed forward lag-lead first-order
compensator, compensator tuning, MATLAB optimization toolbox, Control system performance.
COMPARATIVE ANALYSIS OF CONVENTIONAL PID CONTROLLER AND FUZZY CONTROLLER WIT...IJITCA Journal
All the real systems exhibits non-linear nature,conventional controllers are not always able to provide good and accurate results. Fuzzy Logic Control is used to obtain better response. A model for simulation is designed and all the assumptions are made before the development of the model. An attempt has been made to analyze the efficiency of a fuzzy controller over a conventional PID controller for a three tank level control system using fuzzification & defuzzification methods and their responses are compared. Analysis is done through computer simulation using Matlab/Simulink toolbox. This study shows that the application of Fuzzy Logic Controller (FLC) gives the best response with triangular membership function and centroid defuzzification method.
Controller Tuning for Integrator Plus Delay Processes.theijes
A design method for PID controllers based on internal model control (IMC) principles, direct synthesis method (DS), stability analysis (SA) method for pure integrating process with time delay is proposed. Analytical expressions for PID controllers are derived for several common types of process models, including first order and second-order plus time delay models and an integrator plus time delay model. Here in this paper, a simple controller design rule and tuning procedure for unstable processes with delay time is discussed. Simulation examples are included to show the effectiveness of the proposed method
This document summarizes a study that optimizes PID controller parameters for load frequency control in a four-area interconnected power system using particle swarm optimization. The four-area system includes thermal, thermal with reheat, hydro, and gas power plants. PID controllers are used for each area. Particle swarm optimization is used to minimize the integral of squared error performance index by optimizing the PID parameters. Simulation results in MATLAB/Simulink demonstrate improved regulation of frequency deviations and tie-line power flows with the optimized PID controllers.
Similar to Combined ILC and PI regulator for wastewater treatment plants (20)
Amazon products reviews classification based on machine learning, deep learni...TELKOMNIKA JOURNAL
In recent times, the trend of online shopping through e-commerce stores and websites has grown to a huge extent. Whenever a product is purchased on an e-commerce platform, people leave their reviews about the product. These reviews are very helpful for the store owners and the product’s manufacturers for the betterment of their work process as well as product quality. An automated system is proposed in this work that operates on two datasets D1 and D2 obtained from Amazon. After certain preprocessing steps, N-gram and word embedding-based features are extracted using term frequency-inverse document frequency (TF-IDF), bag of words (BoW) and global vectors (GloVe), and Word2vec, respectively. Four machine learning (ML) models support vector machines (SVM), logistic regression (RF), logistic regression (LR), multinomial Naïve Bayes (MNB), two deep learning (DL) models convolutional neural network (CNN), long-short term memory (LSTM), and standalone bidirectional encoder representations (BERT) are used to classify reviews as either positive or negative. The results obtained by the standard ML, DL models and BERT are evaluated using certain performance evaluation measures. BERT turns out to be the best-performing model in the case of D1 with an accuracy of 90% on features derived by word embedding models while the CNN provides the best accuracy of 97% upon word embedding features in the case of D2. The proposed model shows better overall performance on D2 as compared to D1.
Design, simulation, and analysis of microstrip patch antenna for wireless app...TELKOMNIKA JOURNAL
In this study, a microstrip patch antenna that works at 3.6 GHz was built and tested to see how well it works. In this work, Rogers RT/Duroid 5880 has been used as the substrate material, with a dielectric permittivity of 2.2 and a thickness of 0.3451 mm; it serves as the base for the examined antenna. The computer simulation technology (CST) studio suite is utilized to show the recommended antenna design. The goal of this study was to get a more extensive transmission capacity, a lower voltage standing wave ratio (VSWR), and a lower return loss, but the main goal was to get a higher gain, directivity, and efficiency. After simulation, the return loss, gain, directivity, bandwidth, and efficiency of the supplied antenna are found to be -17.626 dB, 9.671 dBi, 9.924 dBi, 0.2 GHz, and 97.45%, respectively. Besides, the recreation uncovered that the transfer speed side-lobe level at phi was much better than those of the earlier works, at -28.8 dB, respectively. Thus, it makes a solid contender for remote innovation and more robust communication.
Design and simulation an optimal enhanced PI controller for congestion avoida...TELKOMNIKA JOURNAL
This document describes using a snake optimization algorithm to tune the gains of an enhanced proportional-integral controller for congestion avoidance in a TCP/AQM system. The controller aims to maintain a stable and desired queue size without noise or transmission problems. A linearized model of the TCP/AQM system is presented. An enhanced PI controller combining nonlinear gain and original PI gains is proposed. The snake optimization algorithm is then used to tune the parameters of the enhanced PI controller to achieve optimal system performance and response. Simulation results are discussed showing the proposed controller provides a stable and robust behavior for congestion control.
Improving the detection of intrusion in vehicular ad-hoc networks with modifi...TELKOMNIKA JOURNAL
Vehicular ad-hoc networks (VANETs) are wireless-equipped vehicles that form networks along the road. The security of this network has been a major challenge. The identity-based cryptosystem (IBC) previously used to secure the networks suffers from membership authentication security features. This paper focuses on improving the detection of intruders in VANETs with a modified identity-based cryptosystem (MIBC). The MIBC is developed using a non-singular elliptic curve with Lagrange interpolation. The public key of vehicles and roadside units on the network are derived from number plates and location identification numbers, respectively. Pseudo-identities are used to mask the real identity of users to preserve their privacy. The membership authentication mechanism ensures that only valid and authenticated members of the network are allowed to join the network. The performance of the MIBC is evaluated using intrusion detection ratio (IDR) and computation time (CT) and then validated with the existing IBC. The result obtained shows that the MIBC recorded an IDR of 99.3% against 94.3% obtained for the existing identity-based cryptosystem (EIBC) for 140 unregistered vehicles attempting to intrude on the network. The MIBC shows lower CT values of 1.17 ms against 1.70 ms for EIBC. The MIBC can be used to improve the security of VANETs.
Conceptual model of internet banking adoption with perceived risk and trust f...TELKOMNIKA JOURNAL
Understanding the primary factors of internet banking (IB) acceptance is critical for both banks and users; nevertheless, our knowledge of the role of users’ perceived risk and trust in IB adoption is limited. As a result, we develop a conceptual model by incorporating perceived risk and trust into the technology acceptance model (TAM) theory toward the IB. The proper research emphasized that the most essential component in explaining IB adoption behavior is behavioral intention to use IB adoption. TAM is helpful for figuring out how elements that affect IB adoption are connected to one another. According to previous literature on IB and the use of such technology in Iraq, one has to choose a theoretical foundation that may justify the acceptance of IB from the customer’s perspective. The conceptual model was therefore constructed using the TAM as a foundation. Furthermore, perceived risk and trust were added to the TAM dimensions as external factors. The key objective of this work was to extend the TAM to construct a conceptual model for IB adoption and to get sufficient theoretical support from the existing literature for the essential elements and their relationships in order to unearth new insights about factors responsible for IB adoption.
Efficient combined fuzzy logic and LMS algorithm for smart antennaTELKOMNIKA JOURNAL
The smart antennas are broadly used in wireless communication. The least mean square (LMS) algorithm is a procedure that is concerned in controlling the smart antenna pattern to accommodate specified requirements such as steering the beam toward the desired signal, in addition to placing the deep nulls in the direction of unwanted signals. The conventional LMS (C-LMS) has some drawbacks like slow convergence speed besides high steady state fluctuation error. To overcome these shortcomings, the present paper adopts an adaptive fuzzy control step size least mean square (FC-LMS) algorithm to adjust its step size. Computer simulation outcomes illustrate that the given model has fast convergence rate as well as low mean square error steady state.
Design and implementation of a LoRa-based system for warning of forest fireTELKOMNIKA JOURNAL
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Drug addiction is a complex neurobiological disorder that necessitates comprehensive treatment of both the body and mind. It is categorized as a brain disorder due to its impact on the brain. Various methods such as electroencephalography (EEG), functional magnetic resonance imaging (FMRI), and magnetoencephalography (MEG) can capture brain activities and structures. EEG signals provide valuable insights into neurological disorders, including drug addiction. Accurate classification of drug addiction from EEG signals relies on appropriate features and channel selection. Choosing the right EEG channels is essential to reduce computational costs and mitigate the risk of overfitting associated with using all available channels. To address the challenge of optimal channel selection in addiction detection from EEG signals, this work employs the shuffled frog leaping algorithm (SFLA). SFLA facilitates the selection of appropriate channels, leading to improved accuracy. Wavelet features extracted from the selected input channel signals are then analyzed using various machine learning classifiers to detect addiction. Experimental results indicate that after selecting features from the appropriate channels, classification accuracy significantly increased across all classifiers. Particularly, the multi-layer perceptron (MLP) classifier combined with SFLA demonstrated a remarkable accuracy improvement of 15.78% while reducing time complexity.
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Combined ILC and PI regulator for wastewater treatment plants
1. TELKOMNIKA Telecommunication, Computing, Electronics and Control
Vol. 18, No. 2, April 2020, pp. 1054~1061
ISSN: 1693-6930, accredited First Grade by Kemenristekdikti, Decree No: 21/E/KPT/2018
DOI: 10.12928/TELKOMNIKA.v18i2.14895 1054
Journal homepage: http://journal.uad.ac.id/index.php/TELKOMNIKA
Combined ILC and PI regulator
for wastewater treatment plants
Lanh Van Nguyen, Nam Van Bach, Hai Trung Do, Minh Tuan Nguyen
Thai Nguyen University of Technology, Vietnam
Article Info ABSTRACT
Article history:
Received Aug 7, 2019
Revised Jan 16, 2020
Accepted Feb 13, 2020
Due to high nonlinearity with features of large time constants, delays, and
interaction among variables, control of the wastewater treatment plants
(WWTPs) is a very challenging task. Modern control strategies such as model
predictive controllers or artificial neural networks can be used to deal with
the non-linearity. Another characteristic of this system should be considered is
that it works repetitively. Iterative learning control (ILC) is a potential
candidate for such a demanding task. This paper proposes a method using ILC
for WWTPs to achieve new results. By exploiting data from the previous
iterations, the learning control algorithm can improve gradually tracking
control performance for the next runs, and hence outperforms conventional
control approaches such as feedback controller and model predictive control
(MPC). The benchmark simulation model No.1-BSM1 has been used as
a standard for performance assessment and evaluation of the control strategy.
Control of the Dissolved Oxygen in the aerated reactors has been performed
using the PD-type ILC algorithms. The obtained results show the advantages
of ILC over a classical PI control concerning the control quality indexes, IEA
and ISE, of the system. Besides, the conventional feedback regulator is
designed in a combination with the iterative learning control to deal with
uncertainty. Simulation results demonstrate the potential benefits of
the proposed method.
Keywords:
Activated sludge process (ASP)
Benchmark simulation model
(BSM)
Dissolved oxygen (DO)
Iterative learning control (ILC)
Wastewater treatment plants
(WWTPs)
This is an open access article under the CC BY-SA license.
Corresponding Author:
Lanh Van Nguyen,
Thai Nguyen University of Technology,
Thai Nguyen city, Vietnam.
Email: lanhnguyen@tnut.edu.vn
1. INTRODUCTION
A wastewater treatment plant (WWTP) is an industrial system encompassing mechanical, physical,
chemical and biological processes in order to remove pollutants from the inlet wastewater [1]. The complexity
of the biological and biochemical processes and the strong fluctuations of the influent flow rate make
the control problem of the WWTPs very challenging [2]. The technology using the activated sludge process
(ASP) is applied widely in advanced WWTPs [3, 4]. This technology is inexpensive and can be adapted to
different types of wastewater. The WWTPs using ASP is described in Figure 1 [5]. Municipal wastewater is
treated in an aeration tank, then flows to a sedimentation tank, where the biomass sludge is recovered. Treated
water, located at the top of the sedimentation tank, will be the output of the system. At the bottom of the tank,
the sludge deposits, in which a small part is returned to the aeration tank, while the waste activated sludge is
pushed out.
2. TELKOMNIKA Telecommun Comput El Control
Combined ILC and PI regulator for wastewater treatment plants (Lanh Van Nguyen)
1055
The schematic of the WWTP is shown in Figure 2 [6]. The biological reactor has five tanks, including
two anoxic sections (pre-nitrification) and three aerated ones (nitrification) [7, 8]. The sludge is recycled from
the clarifier into the anoxic tank (external recycle), and a part of the mixed liquor is also fed back to
the biological reactor (internal recycle) to maintain the microbiological population. The sludge withdrawn is
pumped continuously from the settler to keep the sludge concentration constant. In order to improve the ASP
efficiency, there are three things we can do to control this process: the air, or aeration rate; the sludge wasting
through waste activated sludge; and the sludge recirculation, either through return activated sludge and/or
internal mixed liquor recycle for nutrient removal. Aeration is an important part of biological reactors because
aerobic conditions will facilitate the development of a wide range of microorganisms. Aerobic conditions for
the growth of biomass affect the control of DO in biological wastewater treatment by activated sludge method.
Inadequate or excess oxygen in aerobic tanks will result in degradation of activated sludge. To maintain
the desired aeration in the biological tank, a DO controller is implemented. Besides, the DO level in the fifth
tank is controlled that manipulates the aeration coefficient for this basin 𝐾𝐿𝑎
5
. Besides, an outer control loop is
used to control the nitrate removal by manipulating the internal recycle flow-rate.
Figure 1. Municipal wastewater treatment by activated sludge process
PI
NO,2S
m=1
m=6
m=10
intQ
Controller
O,5S
Q
uQ
rQ wQ
f
cQ
lK 5a
External Recycle Wastage
Biological reactor
Clarifier
Anoxic Section Aerated Section
Internal Recycle
Wastewater
iQ i,Z
Figure 2. schematic representation of the WWTPs
To keep favorable processing conditions for the required treatment results and cost-effectiveness,
different control strategies are applied. For example, in the aeration section, the aeration is controlled based on
the difference between DO desired value and the measured output. Besides, control algorithms are designed to
adjust the position of the aeration valve and the operation of the air compressor. Practically, conventional PID
is the most used controller in wastewater treatment [9], because of its simplicity and capability of providing
acceptable performance. Its disadvantage, however, is that correction is active only when the measured output
differs from the setpoint. A combination of feedforward and feedback regulator has been proposed for DO
concentration control [10, 11]. This method can provide a more stable, responsive, and reliable control system.
The basic idea of feedforward control is based on the notion that major disturbances are measured and
compensated before they have time to upset the system. In WWTPs, however, it is very difficult to measure
disturbances as well as to derive a mathematical model.
To increase the efficiency and reduce costs, a number of advanced controllers have been proposed
such as cascade control loops [12], intelligent controllers based on Hedge algebras [13], fuzzy logic
3. ISSN: 1693-6930
TELKOMNIKA Telecommun Comput El Control, Vol. 18, No. 2, April 2020: 1054 - 1061
1056
control [14, 15], Model predictive control [16, 17]. These aforementioned methods, however, are non-learning
algorithms. Artificial neural networks are proposed in [18]. Neural network learning, however, modifies
the controller parameters. Therefore, modifying large networks of nonlinear neurons requires extensive training
data. Whereas, ILC is another type of learning strategy that adjusts the control input, which is a signal, by
gathering data from previous executions [19]. WWTPs work in a repetitive manner. Therefore, if the same
manipulated variables are used for every iteration, the control performance cannot be improved. Therefore,
data from previous runs is wasted. The main idea of ILC is that the performance of a system that operates in
repetitive/repeatable maneuvers can be enhanced by incorporating and learning information from previous
iterations. To our best knowledge, ILC has not been deployed in such systems. This paper aims to propose
a method using ILC for WWTPs to achieve new results in DO control performance. Compared to feedback,
feedforward controllers, ILC has some advantages [20]. A feedback regulator has to react to inputs and
disturbance, results in a transient tracking lag. To eliminate this lag, a feedforward controller can be used, but
only for measurable or known signals. ILC is anticipatory and able to compensate for exogenous signals, such
as repetitive disturbances by learning from previous operations. In ILC, the exogenous signals are not required
to be known or measured but repeated from iteration to iteration. Due to ILC cannot address unanticipated and
nonrepeating disturbances, a combination of feedback regulator and with ILC is proposed to use. The remainder
of this paper is organized as follows. The proposed control algorithm is introduced in section 2. Then,
a combined ILC and PI regulator for WWTPs is derived in section 3. Next, section 4 presents simulation results
and discussion. Finally, the conclusion is given in Section 5.
2. THE PROPOSED CONTROL ALGORITHM
The main idea of ILC is to utilize the situation that the control system carries out the same task over
and over again. Based on that, the performance of the control system could be improved gradually by using
the results from the previous iterations when updating the input signal for the next iteration. Figure 3 shows
the basic structure of an ILC. The input signal 𝑈𝑗(𝑠) and the error signal 𝐸𝑗(𝑠) between the reference trajectory
𝑌𝑑(𝑠) and system output 𝑌𝑗(𝑠) are stored in memory. The input signal for the next iteration is computed based
on 𝑈𝑗(𝑠) and 𝐸𝑗(𝑠) to improve the system performance. That is: 𝑈𝑗+1(𝑠) = 𝑓(𝑈𝑗(𝑠), 𝐸𝑗(𝑠)). A popular ILC
algorithm is [21]:
𝑈𝑗+1(𝑠) = 𝑈𝑗(𝑠) + 𝐿 𝑒(𝑠)𝐸𝑗(𝑠) (1)
where 𝐿 𝑒(𝑠) is a learning function.
It should be mentioned that ILC is an open-loop approach and has no feedback mechanism to deal
with nonrepeating and unanticipated disturbances. Therefore, we proposed to use a feedback regulator
combined with ILC for the DO control in tank 5, as shown in Figure 4. The basic idea here is that the system
performs the same movement repeatedly, and a correction signal ∆𝑈𝑗 is updated after each iteration.
In Figure 4, C is a feedback PI regulator, and P is the plant.
Plant
-
MemoryILC
+
PC
-
+ +
+
PC
-
+ +
+
Kp
Kdd/dt Le ILC
Iterative
j
Iterative
j+1
+
+
+ +
Figure 3. Block diagram of basic iterative
learning control
Figure 4. ILC combined with a feedback regulator
4. TELKOMNIKA Telecommun Comput El Control
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1057
From the block diagram, the input signal is given by:
𝑈𝑗(𝑠) = 𝐺𝑐(𝑠). (𝑌𝑑(𝑠) − 𝑌𝑗(𝑠)) + ∆𝑈𝑗(𝑠) (2)
in which 𝐺𝑐(𝑠) is a feedback transfer function. So, the output of the closed-loop system:
𝑌𝑗( 𝑠) =
𝐺 𝑝(𝑠)
1+𝐺 𝑐(𝑠).𝐺 𝑝(𝑠)
(𝐺𝑐( 𝑠). 𝑌𝑑( 𝑠) + ∆𝑈𝑗( 𝑠)) (3)
where Gp (s) is the plant transfer function. The update equation:
∆𝑈𝑗(𝑠) = 𝑈𝑗(𝑠) + 𝐿 𝑒(𝑠). 𝐸𝑗(𝑠) (4)
in which the learning function is PD-typed as following : 𝐿 𝑒(𝑠) = 𝐾𝑝 + 𝐾𝑑 𝑠
Convergence is a major issue in ILC. Convergence means that the iterative update of the input signal
converges to a signal giving a good performance. In the following, conditions for convergence to zero error
will be derived. From Figure 4, the error signal of the iterative j is defined:
𝐸𝑗(𝑠) = 𝑌𝑑(𝑠) − 𝑌𝑗 (𝑠) (5)
inserting (3) into (5) gives:
𝐸𝑗(𝑠) = 𝐺(𝑠). 𝐺𝑐
−1
(𝑠). (𝐺 𝑝
−1
(𝑠). 𝑌𝑑(𝑠) − ∆𝑈𝑗(𝑠)) (6)
where:
𝐺( 𝑠) =
𝐺 𝑐(𝑠).𝐺 𝑝(𝑠)
1+𝐺 𝑐(𝑠).𝐺 𝑝(𝑠)
(7)
is the closed-loop transfer function. At the iterative j+1, the control signal is:
𝑈𝑗+1(𝑠) = 𝑈𝑗(𝑠) + 𝐿 𝑒(𝑠). 𝐸𝑗(𝑠) (8)
similar to (6), we have:
𝐸𝑗+1(𝑠) = 𝐺(𝑠). 𝐺𝑐
−1
(𝑠). (𝐺 𝑝
−1
(𝑠). 𝑌𝑑(𝑠) − ∆𝑈𝑗+1(𝑠)) (9)
inserting (8) into (9) gives:
𝐸𝑗+1(𝑠) = 𝐸𝑗(𝑠) − 𝐺(𝑠). 𝐺𝑐
−1
(𝑠). 𝐿 𝑒(𝑠). 𝐸𝑗(𝑠) (10)
hence:
𝐸𝑗+1(𝑠) = (1 − 𝐺(𝑠). 𝐺𝑐
−1
(𝑠). 𝐿 𝑒(𝑠)) 𝐸𝑗(𝑠) (11)
we see that with |1 − 𝐺( 𝑠). 𝐺𝑐
−1
( 𝑠). 𝐿 𝑒( 𝑠)| < 1 ∀ 𝜔, the error will tend to zero, and hence to output signal
will follow the reference exactly. The condition in (11) means that the Nyquist diagram 𝐺(𝑗𝜔)𝐺𝑐
−1
(𝑗𝜔)𝐿(𝑗𝜔)
has to be inside a circle of radius one with the center at one. This circle is denoted learning circle.
3. COMBINED ILC WITH A PI REGULATOR FOR WWTPs
In this project, the proposed method is applied to the BSM1, which is based on the most popular
Activated Sludge Model No.1 (ASM1) developed by the International Association on Water Pollution
Research and Control. The BSM1 is the standard model [7] to model, assess performance, and evaluate control
strategies [8].
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Figure 5 shows the Simulink model, including a nitrate controller and a DO controller. In former, a PI
controller is pre-implemented. In the latter, another pre-designed PI controller is applied in the first iteration,
then ILC combined with a PI regulator will be used in next iterations. In the first iteration, ∆𝑈𝑗(𝑠) = 0, so only
the PI feedback regulator is active. The control signal 𝑈_𝑙𝑎𝑠𝑡 and the measured output 𝑂2_𝑚𝑒𝑎𝑠 are sent to
the workspace in Matlab. In Matlab programming, the updating control signal is designed and calculated
according to (4), then sent back to the Simulink model using input terminals 𝐷𝑒𝑙𝑡𝑎_𝑢 to run the next iteration.
Figure 5. Simulation model
To evaluate the performance of the system, control quality evaluation will be used. In ILC,
the converged error 𝐸∞(𝑠) and the initial error 𝐸0(𝑠) is compared, using the differential integration method
(IAE) and integrating the square of control deviation [7], in which:
𝐼𝐴𝐸𝑗 = ∫ |𝐸𝑗|𝑑𝑡
𝑡 𝑓
𝑡0
and 𝐼𝑆𝐸𝑗 = ∫ 𝐸𝑗
2
𝑑𝑡
𝑡 𝑓
𝑡0
(12)
to evaluate the performance of the system, operating cost index (OCI) and output wastewater quality index
(EQI) are used, according to [8]:
𝐸𝑄𝐼 =
1
𝑇.1000
∫ 𝐴. 𝑄 𝑒(𝑡)𝑑𝑡
𝑡=14 𝑑𝑎𝑦𝑠
𝑡=0 𝑑𝑎𝑦
(13)
where:
𝐴 = 𝐵 𝑇𝑆𝑆. 𝑇𝑆𝑆𝑒(𝑡) + 𝐵 𝐶𝑂𝐷. 𝐶𝑂𝐷𝑒(𝑡) + 𝐵 𝑇𝐾𝑁. 𝑇𝐾𝑁𝑒(𝑡) + 𝐵 𝑁𝑂. 𝑆 𝑁𝑂 𝑒
(𝑡) + 𝐵 𝐵𝑂𝐷5. 𝐵𝑂𝐷𝑒(𝑡)
In which 𝑇𝑆𝑆𝑒, 𝐶𝑂𝐷𝑒, 𝑇𝐾𝑁𝑒, 𝑆 𝑁𝑂 𝑒
, and 𝐵𝑂𝐷𝑒 are the total amount of solids, the demand of
the chemical oxygen, the total amount of nitrogen, the demand of the nitrate concentration and biological
oxygen in the outlet, respectively. Q ( )e t is the flow rate of outlet, and T is time (14 days in simulation)
𝐵 𝑇𝑆𝑆 = 2, 𝐵 𝐶𝑂𝐷 = 1, 𝐵 𝑇𝐾𝑁 = 30, 𝐵 𝑁𝑂 = 10, and 𝐵 𝐵𝑂𝐷5 = 2 are coefficients.
𝑂𝐶𝐼 = 𝐴𝐸 + 𝑃𝐸 + 5. 𝑆𝑃 + 3. 𝐸𝐶 + 𝑀𝐸 (14)
where AE is aeration energy, EC is the mixing energy, EC is the consumption of external carbon
source, PE is the pump energy and SP is the total amount of discharged sludge [7].
6. TELKOMNIKA Telecommun Comput El Control
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1059
4. RESULTS AND ANALYSIS
Figure 6 demonstrates the simulation result of the DO control responding to a constant setpoint, in
dry weather, with a PI controller, and with the proposed ILC controller. The Figure show that while a PI
controller still gives a large tracking error, up to about 2.5 [g.(COD)/m3], the ILC combined PI gives a much
better tracking control in the second iteration, and to nearly zero error after 10 iterations. This leads to very
small control quality indexes
Figure 6. Control performance
with constant setpoint
Figure 7. Learning process
with different sets of 𝐾𝑝_ 𝑖𝑙𝑐
, 𝐾𝑑_ 𝑖𝑙𝑐
Simulation result of the learning process is given in Figure 7, with 3 different sets of learning
coefficients: 𝑠𝑒𝑡 1: 𝐾𝑝_ 𝑖𝑙𝑐
= 5, 𝐾𝑑_ 𝑖𝑙𝑐
= 2; 𝑠𝑒𝑡 2: 𝐾𝑝_ 𝑖𝑙𝑐
= 0.5, 𝐾𝑑_ 𝑖𝑙𝑐
= 0.2; and 𝑠𝑒𝑡 3: 𝐾𝑝_ 𝑖𝑙𝑐
= 40, 𝐾𝑑_ 𝑖𝑙𝑐
= 10.
The figure illustrates that both IAE and ISE decrease significantly after each iteration. The rate of decreasing
can be influenced by 𝐾𝑝_𝑖𝑙𝑐 and 𝐾𝑑_𝑖𝑙𝑐 of the learning function 𝐿 𝑒(𝑠).
An importance aspect needs to be considered when applying ILC is the convergence. That is,
the iterative update of the control signal converges to a signal giving a good performance. In [22], a detail of
convergence issues was discussed, and some convergence criteria were derived. In this project, the learning
process can be continued until the desired performance is reached.
Different weather conditions are also used to investigate the advantage of the proposed controller
concerning disturbance rejection. Table 1 gives a comparison of the proposed controller with a PI-only
regulator and with the method using a model predictive controller combined a feedforward [2] in term of
control quality indexes. The Table shows that the proposed controller gives the best control performance with
the smallest IAE and ISE indexes in all three considered weather conditions.
Table 1. Comparison of quality indexes of different controllers in dry weather
Indexes
Method
Dry weather Rainy weather Stormy weather
IAE ISE IAE ISE IAE ISE
PI 0.25105 0.022085 0.2299 0.0177 0.2601 0.0217
MPC+FF [2] 0.047 0.00067 - 0.0013 - 0.0018
PI+ILC 0.0098 0.000078 0.0082 0.000054 0.0081 0.000058
To improve the system performance, a hierarchical control is proposed by some
investigations [2, 4]. Higher-level control is designed to regulate the DO set-points, using states of the process,
usually 𝑆 𝑁𝐻4 and 𝑆 𝑁𝑂 concentration values in any tank or the inlet [23, 24] or DO in other basins [25, 26].
The simulation of the proposed control algorithm for a regulated setpoint is given in Figure 8. Similar to
a constant setpoint, the tracking control performance with a regulated setpoint is also nearly zero error.
Table 2 compares the system quality indexes (OCI and EQI) of the DO control using constant setpoint and
regulated setpoint. The table illustrates that using regulated setpoint, not only OCI but also EQI are decreased
significantly comparing those using the constant setpoint in all three considered weather conditions.
7. ISSN: 1693-6930
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Figure 8. Control performance with regulated setpoint
Table 2. Comparison of quality indexes of different controllers in all three weather
Method
Indexes
ILC+PI
%Constant setpoint Regulated setpoint
Dry
weather
OCI 16364.77 16298.87 - 0.4027 %
EQI 6095.23 6002.08 - 1.5282 %
Rainy
weather
OCI 15996.38 15916.48 - 0.4995 %
EQI 8174.91 8109.56 - 0.7994 %
Stormy
weather
OCI 17236.97 17188.39 - 0.2818 %
EQI 7228.72 7124.08 - 1.4476 %
5. CONCLUSION
The presented ILC performance of the nitrate concentration in the DO concentration control in
the last aerated reactor of the pre-denitrification WWTP has shown promising results compared to
the traditional decentralized PI control as well as to the MPC combined with feedforward controller.
The combination of ILC with a PI feedback regulator provides a significant improvement of the WWTP
operation aimed at organic and ammonium pollutants removal proved in the presence of the weather
disturbance. The proposed control algorithm is proven for both constant setpoint and regulated setpoint.
The proposed controller in this project has just applied at tank No. 5. For further reduction of
the OCI and the EQI, similar control structures can be designed to control oxygen concentration for the other
basins (tank 3 and tank 4), and the nitrate control. Furthermore, the proposed PD-typed ILC is not an optimal
algorithm. Optimal ILC, robustness, and implementation of ILC in the multiple-input multiple-output (MIMO)
setup are our ongoing works for controlling a larger number of the WWTP variables. As an optimal ILC
may successfully work in the presence of constraints, for both manipulated and controlled variables,
the proposed control design outperforms the traditional control approach and reveals incentives for
its practical implementation.
ACKNOWLEDGEMENTS
The authors acknowledge Thai Nguyen University of Technology for their financial support in our
project with code ĐH2017-TN02-03.
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