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Nonlinear Model Predictive Control

This document discusses nonlinear model predictive control (NMPC) and provides an exercise to design and compare three controllers - PID, linear MPC, and nonlinear MPC - to maintain the temperature of a chemical reactor. The reactor is modeled as a continuously stirred tank reactor (CSTR) converting a hazardous chemical A to a safer chemical B. The controllers will adjust the jacket temperature between 250-350K to keep the reactor temperature below 400K while maximizing the conversion of A. Step testing will obtain process models for the PID and linear MPC controllers, while the nonlinear MPC will use the nonlinear simulator equations directly.

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Darren Nicolas
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57 views

Nonlinear Model Predictive Control

This document discusses nonlinear model predictive control (NMPC) and provides an exercise to design and compare three controllers - PID, linear MPC, and nonlinear MPC - to maintain the temperature of a chemical reactor. The reactor is modeled as a continuously stirred tank reactor (CSTR) converting a hazardous chemical A to a safer chemical B. The controllers will adjust the jacket temperature between 250-350K to keep the reactor temperature below 400K while maximizing the conversion of A. Step testing will obtain process models for the PID and linear MPC controllers, while the nonlinear MPC will use the nonlinear simulator equations directly.

Uploaded by

Darren Nicolas
Copyright
© © All Rights Reserved
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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Nonlinear Model Predictive Control

Dynamic control is also known as Nonlinear Model Predictive Control (NMPC) or simply as Nonlinear Control (NLC). NLC with predictive models
is a dynamic optimization approach that seeks to follow a trajectory or drive certain values to maximum or minimum levels.

Exercise
Objective: Design a controller to maintain temperature of a chemical reactor. Develop 3 separate controllers (PID, Linear MPC, Nonlinear MPC)
in Python, MATLAB, or Simulink. Demonstrate controller performance with steps in the set point and disturbance changes. Estimated time: 3
hours.

CSTR Source Files | Problem Information

A reactor is used to convert a hazardous chemical A to an acceptable chemical B in waste stream before entering a nearby lake. This particular
reactor is dynamically modeled as a Continuously Stirred Tank Reactor (CSTR) with a simplified kinetic mechanism that describes the
conversion of reactant A to product B with an irreversible and exothermic reaction. It is desired to maintain the temperature at a constant
setpoint that maximizes the destruction of A (highest possible temperature). Adjust the jacket temperature (Tc) to maintain a desired reactor
temperature and minimize the concentration of A. The reactor temperature should never exceed 400 K. The cooling jacket temperature can be
adjusted between 250 K and 350 K.

Step Testing
Step testing is required to obtain a process model for the PID controller and the linear model predictive controller. It is a first step in developing
a controller. The following code implements either a doublet test or multiple steps to different levels. A doublet test starts with the system at
steady state. Three moves of Manipulated Variable (MV) are made with sufficient time to nearly reach steady state conditions at two other
operating points. The steps are above and below the nominal operating conditions. In this case, the cooling jacket temperature is raised,
lowered, and brought back to 300 K (nominal operating condition).
erating condition.
Additional steps are preferred for systems that show a high degree a nonlinearity or when there is little additional expense to obtain the data.
The following code generates data at multiple input levels and with varying different step time intervals. The cooling jacket temperature is not
raised above 305 K to avoid reactor instability in open loop.

Model Identification
There are many methods to develop a controller model. For a PID controller, an FOPDT model is one method to obtain IMC tuning
parameters. For linear MPC, there are many options to obtain a controller model through identification methods. For nonlinear MPC, the
nonlinear simulator equations can be used to develop the controller. This section demonstrates how to obtain a linear model for the MPC
application using the step test data generated in the prior section.

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