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In this paper, the problem of designing a tracking controller for uncertain nonlinear state-delay systems that
can suppress the effects of both unknown uncertainties and disturbances is investigated. The controller is
designed by using the sliding-mode control concept and the polynomial approximation method. One of the
features in this paper is that model uncertainties and state-delay terms are expressed as the Legendre polynomials
expansion. The expansion coefficients of the Legendre polynomials can furthermore be modified by the update
law derived from the Lyapunov stability theorem. The presented composite nonlinear controller, which consists
of a sliding-mode controller with a coefficient update law and a sliding-mode observer, can achieve offset-
free performance. The major advantage of the proposed control system design is to track the set point without
producing a vigorous control action and requiring the exact knowledge of model uncertainties. The control
scheme is illustrated by an example of a chemical reactor with delayed states. Simulation results indicate that
the proposed method can work for processes with time delays, despite unknown modeling uncertainties.
polynomials can be designed by using the Lyapunov stability The Legendre polynomials have the following important recur-
theory. The sliding-mode control structure is the backbone of rence property
the proposed control strategy development. The presented
composite nonlinear controller, which consists of a sliding-mode (n + 1)Pn+1(t) ) (2n + 1)P1(t)Pn(t) - nPn-1(t) (10)
controller with a coefficient update law and a sliding-mode
observer, can achieve offset-free performance. Furthermore, we The first several Legendre polynomials are given by
discuss the stability of the closed-loop process. Finally, the
P0(t) ) 1 (11)
effectiveness of the proposed method is demonstrated by
illustrated simulations.
2t b+a
The scope of this paper covers a class of time-delay nonlinear P1(t) ) - (12)
processes. It is not a general approach to all nonlinear problems.
b-a b-a
The class of problems is frequently encountered in process 3 2t b+a2 1
control of recycled reactors, recycled storage tanks, cold rolling
mills, and so forth.
P2(t) ) [ -
2b-a b-a
-
2 ] (13)
3. Problem Formulation
2. Function Approximation with Orthogonal Polynomials
Consider a class of dynamic processes that may be modeled
Let us suppose that a function f(t) defined on (a, b) is to be by
represented as a series of orthogonal polynomials {Φn(t)}, n )
0, 1, 2, ‚‚‚, that is, x(n) ) ft(X(t), X(t - τ)) + gt(X(t), X(t - τ))u(t) + D(t) (14)
∞
where X ) [x x(1) ‚‚‚ x(n-1)]T is the process state vector, ft(X(t),
f(t) ) ∑ cnΦn(t), a < t < b
n)0
(1) X(t - τ)) and gt(X(t), X(t - τ)) are nonlinear functions, τ > 0
is a delay time in the process state, u(t) is the control input,
The values cn are the coefficients. Define and D(t) is the disturbance. Generally, a large class of chemical
processes can be represented with this type of model structure.
z(t) ) [Φ0(t) Φ1(t) ‚‚‚ Φn(t)]T (2) Examples are recycled reactors, recycled storage tanks, cold
rolling mills, and so on.2 Most of the recycling processes inherit
delays in their state equations. Equation 14 also can be expressed
W ) [c0 c1 ‚‚‚ cn]T (3)
in companion form,16 i.e.,
∞
x̆1 ) x2
E(t) ) ∑ clΦl(t) (4)
l)n+1 x̆2 ) x3
Then eq 1 can be rewritten as l
f(t) ) WTz(t) + E(t) (5) x̆n ) ft(X(t), X(t - τ)) + gt(X(t), X(t - τ))u(t) + D(t) (15)
In applications, f(t) is approximated by a linear combination The control objective is to design a control law u to make x(t)
track xd(t) in the presence of unknown modeling errors in ft-
n (X(t), X(x - τ)) and gt(X(t), X(t - τ)) and unknown disturbances,
fn(t) ) ∑akΦk(t)
k)0
(6) D(t).
The sliding-mode design approach consists of two compo-
nents.16 The first one involves the design of a switching function
and the mean-square error is defined as the form of
so that the sliding motion satisfies design specifications. The
En ) ∫abw(t)[f(t) - fn(t)]2 dt (7)
second one is concerned with the selection of a control law
which will make the switching function attractive to the system
state. Thus, the first step is to define a time-varying surface
where w(t) is the weight function. If the mean-square error s(t) in the state-space as s(X,t) ) 0 that is a differential operator
approaches zero as n becomes infinite, the sequence {fn(t)} acting on some error function
converges in the mean to f(t).14 In other words, as long as n is
(dtd + γ)
large enough, f(t) can be approximated as n-1
s) e(t) (16)
f(t) ≈ W z(t)T
(8)
+∞
e(t) ) x(t) - xd(t) (17)
Note that f(t) must be in L2, that is, means ∫-∞ (f(x)2) dx < ∞.
It is well-known that many orthogonal polynomials are fre- where xd(t) is the desired trajectory and γ is a strictly positive
quently used to approximate the solution of time-varying constant, determining the performance of the system on the
systems because of their computation convergence advantages. sliding surface. The control goal is to force the process state
In this paper, the Legendre polynomials expansion is demon- x(t) to follow the specified trajectory xd(t). The problem is equal
strated to deal with unknown uncertainties and delayed states. to design a control law u(t) to ensure
The Legendre polynomials are defined in a finite interval [a,
b] by15 lim e(t) ) 0 (18)
tf∞
1 dn(t - a)n(t - b)n
Pn(t) ) (9) This condition can be achieved by making the system trajectory
n!(b - a)n dtn converge to the sliding surface. Thus, the problem of tracking
Ind. Eng. Chem. Res., Vol. 45, No. 26, 2006 8965
{ ()
trajectory can be reduced to keep s at zero. s s
if | | < 1
s φ φ
(dtd + γ)
n-1
e(t) ) 0 (19) ()
sat )
φ sgn
s s
if | | g 1
(28)
φ φ
() {
4. Controller Design s
+1 if > 0
s φ
The first step in controller design is to select a feedback sgn ) s (29)
control law u(t). The goal is to reach the sliding surface and φ -1 if < 0
remain on it. The second step is to estimate unknown functions φ
in ft(X(t), X(t - τ)) and gt(X(t), X(t - τ)) by employing
Substituting eq 27 into eq 26 gives
orthogonal polynomials. Classical orthogonal polynomials serve
as an excellent tool for modeling processes in an approximative
way. Here we select the Legendre polynomials in order to
improve the accuracy of approximation of unknown functions.
[
s̆ ) ∆g (f - xd(n) + Ω(e))(∆g-1 - ∆ĝ-1) +
Here, we assume that the functions ft(X(t), X(t - τ)) and gt- zF(t) ) [P0(t) P1(t) ‚‚‚ Pn(t)]T (34)
(X(t), X(t - τ)) can be represented as17
WH ) [wH0 wH1 ‚‚‚ wHn]T (35)
ft(X(t), X(t - τ)) ) f(X(t)) + ∆f(X(t), X(t - τ)) (23)
Wg ) [wg0 wg1 ‚‚‚ wgn]T (36)
gt(X(t), X(t - τ)) ) g(X(t))∆g(X(t), X(t - τ)) (24)
Here, zF is the Legendre polynomials vector. WH and Wg are
This assumption decomposes ft(X(t), X(t - τ)) and gt(X(t), X(t considered as the constant parameter vectors. Generally the
- τ)), respectively, into two parts, where f(X(t)) and g(X(t)) number n should be properly selected so that the approximate
are referred to as the known functions whereas ∆f(X(t), X(t - errors are tolerable. ∆Ĥ and ∆ĝ-1 are the estimates of the
τ)) and ∆g(X(t), X(t - τ)) can be viewed as the time-varying unknown functions ∆H and ∆g-1, respectively, and can be
uncertainties that are unknown functions of time. Here, ∆g(X(t), represented as
X(t - τ)) is, in general, referred to as the matched uncertainty,
which is assumed to be bounded as below: ∆Ĥ ≈ ŴHTzF(t) (37)
0 < ∆gmin e ∆g(X(t), X(t - τ)) e ∆gmax (25) ∆ĝ-1 ≈ Ŵ gTzF(t) (38)
s̆ ) (f + ∆F) + g∆gu - xd(n) + Ω(e) (26) Ŵg ) [ŵg0 ŵg1 ‚‚‚ ŵgn]T (40)
where ∆F ) ∆f + D. To make the value of s̆ equal to zero, we The update laws for adjusting the parameters ŴH and Ŵg will
consider the following control input of the form be derived.
Substituting from eqs 32 to 40 into eq 30 yields
1 s
u)
g[-∆Ĥ - ∆ĝ-1(f - xd(n) + Ω(e)) - ηsat
φ ( )] (27)
The thickness of the boundary layer φ is defined to be a positive
[
s̆ ) ∆g (f - xd(n) + Ω(e))(W̃gTzF(t)) +
1 1
V(s, W̃H, W̃g) ) s2 + ∆g[W̃HTQHW̃H + W̃gTQgW̃g] (44)
2 2
where QH and Qg are symmetric positive definite matrices. The
derivative of V is
Since WH and Wg are the constant vectors, W̃˙H ) -Ŵ˙H and W̃˙g
) -Ŵ˙g, the above equation can be further expressed as
[
V̇ ) ∆g W̃Tg(zFs(f - xd(n) + Ω(e)) - QgŴ˙g) +
]
2
s
W̃HT(zFs - QHŴ˙H) - η (47)
φ
Choose the update laws as
s2
V̇ ) -∆gη
φ
Figure 1. (a) Process responses and (b) controller responses.
Choose η ) η1/∆gmin, η1 > 0. Then
5. Sliding Observer
x̂˘ 1 ) f̂ 1(x̂1, x̂2,‚‚‚, x̂n, u) - k1sat ()
x̃1
φ
()
available. If they cannot be measured, then a state estimator
x̃1
is necessary. Sliding observer is a high-performance state x̂˘ n ) f̂ n(x̂1, x̂2, ‚‚‚, x̂n, u) - knsat (53)
estimator well-suited for nonlinear uncertain systems with partial φ
Ind. Eng. Chem. Res., Vol. 45, No. 26, 2006 8967
6. Numerical Example
( )
(-∆H) E UAr
k exp - C (t*) - (T (t*) - Tj(t*))
FrCpr 0 RTr A FrCprVr r
(56)
dTj(t*) Fj UAr
) (Tjf - Tj(t*)) + (T (t*) - Tj(t*)) (57)
dt* Vj FjCpjVj r
1 1
( )
x̆1(t) ) - x1(t) + - 1 x1(t - τs) +
{ }
λ λ
where δf ) f̂(x̂, u) - f(x, u). x2(t)
The more sophisticated estimation techniques can be applied Da(1 - x1(t)) exp (58)
x2(t)
to improve state estimation; however, this is not the main 1+
concern in this paper. Here, we adopt the basic sliding ψ
observation method to estimate the process states without time
1 1
delays. Certainly there exists a discrepancy between the actual
( )
x̆2(t) ) - x2(t) + - 1 x2(t - τs) +
{ }
state and the estimated state. This will degrade the performance λ λ
of tracking. The merit of this paper is that we decompose ft- x2(t)
(X(t), X(t - τ)) and gt(X(t), X(t - τ)), respectively, into two BDa(1 - x1(t)) exp - βr(x2(t) - x3(t)) (59)
x2(t)
parts, where f(X(t)) and g(X(t)) are, in general, referred to as 1+
ψ
the known parts, whereas ∆f(X(t), X(t - τ)) and ∆g(X(t), X(t -
τ)) are viewed as the unknown parts, which can be compensated
x̆3(t) ) βc(x2(t) - x3(t)) + u(x3f - x3(t)) (60)
by the proposed controller.
8968 Ind. Eng. Chem. Res., Vol. 45, No. 26, 2006
where
[ { }
x2(t)
f ) -x2(t) + BDa(1 - x1(t)) exp - βr(x2(t) -
x2(t)
1+
]( { } )
ψ
1 - x1(t) x2(t)
( )
x3(t)) λ + BDa 2
- 1 - βr -
exp
x2(t) x2(t)
1+ 1+
( { })
ψ ψ
x2(t)
-x1(t) + Da(1 - x1(t)) exp ×
x2(t)
1+
( { })
ψ
x2(t)
BDa exp - βrβc(x2(t) - x3(t)) - λx̆d(t) (67)
x2(t)
1+
ψ
∆f + D ) ∆F
( (
1 - x1(t)
)
) (∆x2(t, t - τs) + d) λ + BDa 2
×
x2(t)
1+
{ } )
ψ
x2(t)
exp - 1 - βr +
Figure 3. (a) Process responses and (b) controller responses. x2(t)
1+
{ }
ψ
The main control objective for the reactor would be the
x2(t)
regulation of the product concentration around a desired set- ∆x1(t, t - τs)BDa exp +
point value. The close relationship between the concentration x2(t)
of component A and the temperature enables us to choose the 1+
ψ
regulation of the reactor outlet temperature about a correspond- ∆x̆2(t, t - τs) + ḋ (68)
ing set-point value as our control objective. The coolant flow
rate is considered here as the manipulated variable.
g ) βr(x3f - x3(t)) (69)
6.1. Controller Design. To further conform to the design
forms, the above equations are rearranged as
∆g ) 1 (70)
1 1
(
x̆1(t) ) - x1(t) + - 1 x1(t) +) The unknown function ∆F is assumed as a bounded continuous
{ }
λ λ function of time and is approximated by the Legendre polyno-
x2(t) mials. The control law is
Da(1 - x1(t)) exp + ∆x1(t, t - τs) (61)
x2(t)
1+ 1 s
ψ u)
g[- ŴHTzF - ŴgTzF(f - ẍd) - ηsat
φ ( )] (71)
1 1
( )
x̆2(t) ) - x2(t) + - 1 x2(t) + BDa(1 - x1(t)) exp Ŵ˙g ) Qg-1zFs(f - ẍd)
{ }
λ λ (72)
x2(t)
- βr(x2(t) - x3(t)) + ∆x2(t, t - τs) + d(t) (62) Ŵ˙H ) QH-1zFs (73)
x2(t)
1+
ψ The parameters for all simulations are selected to be λ )
0.5, B ) 8, Da ) 0.135, ψ ) 20, βc ) 1.5, βr ) 1.5, x3f ) -4,
x̆3(t) ) βc(x2(t) - x3(t)) + u(x3f - x3(t)) (63) uin ) 0.97, x1in ) 0.65, x2in ) 3, and x3in ) 0.26, where the
subscript {in} denotes the initial state. The controller parameters
y ) x2(t) (64) are selected to be γ ) 1.5, η ) 1.2, and Qg ) QH ) 0.1 × I,
where I denotes the identity matrix with a proper dimension.
where d(t) is added to the system to represent the process The thickness of boundary layer φ is selected as 0.2 during the
disturbance. course of the simulation.
Ind. Eng. Chem. Res., Vol. 45, No. 26, 2006 8969
Figure 4. (a) Process responses and (b) controller responses. Figure 5. (a) Process responses and (b) controller responses.
6.1.1. Case 1. In this case, all the states are available. Figure Figure 2b shows the input moves produced by the corresponding
1a shows that the proposed controller, the nonlinear controller controllers. Because of the additional oscillatory disturbance,
based on the extension of the Lie derivative developed by the controller moves of nonlinear MPC display the chattering
Oguchi et al.7 (the new input V ) -4z1 - z2 is designed), and behavior. Figure 3a shows the simulation results of the process
the nonlinear model predictive control (MPC)20 are compared having a set-point change from x2 ) 3 to x2 ) 4 and a time
for the process having a time delay τs ) 2 in the state and a delay τs ) 2 in the state for t e 10 and a τs ) 5 in the state for
set-point change from x2 ) 3 to x2 ) 4. The nonlinear MPC is t > 10, with the proposed controller, the nonlinear controller
designed with these parameters: the sampling interval is 0.01, based on the extension of the Lie derivative, and the nonlinear
the prediction horizon is 30, and the control horizon is 10. The MPC. Figure 3b shows the input moves of the corresponding
controller moves are set within the range -2 e u e 1.2. The controllers. Notice that the proposed controller initially needs
nonlinear constrained optimization problem is solved by using some time to update the estimation of model uncertainties. This
the MATLAB Optimization Toolbox routine FMINCON. The results in a sluggish response. Once the work of updating param-
nonlinear controller based on the extension of the Lie derivative eters is finished, the control system possesses satisfactory robust-
produces a large overshoot. The simulation results show that ness. It is evident that the performance retains a nearly similar
nonlinear MPC exhibits a response with the offset to the set response under a time-delay change τs ) 5 for t > 10, with
point within the specified control constraints. By contrast, our respect to that obtained with a time delay τs ) 2 for t e 10.
proposed controller provides a rapid, smooth, and conservative For the sake of demonstrating the choice of polynomial terms,
response. Such a response is much more suitable for chemical Figure 4a compares the proposed controller with different
process control applications. Figure 1b shows the input moves polynomial terms for the process having a time delay τs ) 2 in
produced by the corresponding controllers. This result indicates the state and a set-point change from x2 ) 3 to x2 ) 4. The
that the superior performance of the proposed controller is not controller with three-term polynomials yields a larger deviation
attributable to more aggressive control action but rather to a from the set point, while the controller with five-term polynomi-
more judicious use of the input. Figure 2a shows that the als provides more effective tracking ability. Figure 4b shows
proposed controller, the nonlinear controller based on the the input moves produced by the corresponding controllers.
extension of the Lie derivative, and the nonlinear MPC are Figure 5a shows the simulation results of the process having a
compared for the process having a time delay τs ) 2 in the time delay τs ) 2 in the state, a set-point change from x2 ) 3
state, a set-point change from x2 ) 3 to x2 ) 4, and an oscillatory to x2 ) 4, and an oscillatory disturbance d ) 0.1 sin(t). The
disturbance d ) 0.1 sin(t). As before, the performance of the controller with five-term polynomials improves the performance
proposed controller shows less deviation from the set point. of tracking. Figure 5b shows the input moves produced by the
8970 Ind. Eng. Chem. Res., Vol. 45, No. 26, 2006
1
( )
1
x̂˘ 1(t) ) - x̂1(t) + - 1 x̂1(t) +
{ }
λ λ
Da(1 - x̂1(t)) exp
x̂2(t)
x̂2(t)
+ k1sat (
(x2 - x̂2)
φ
(74))
1+
ψ
1
( )
1
x̂˘ 2(t) ) - x̂2(t) + - 1 x̂2(t) + BDa(1 - x̂1(t)) exp
{ }
λ λ
x̂2(t)
x̂2(t)
- βr(x̂2(t) - x̂3(t)) + k2sat((x2 - x̂2)
φ )
(75)
1+
ψ
Figure 7. (a) Process responses, (b) controller responses, (c) estimation result of x1, and (d) estimation result of x3.
Ind. Eng. Chem. Res., Vol. 45, No. 26, 2006 8971
Figure 8. (a) Process responses, (b) controller responses, (c) estimation result of x1, and (d) estimation result of x3.
Figure 9. (a) Process responses, (b) controller responses, (c) estimation result of x1, and (d) estimation result of x3.
4. Figure 7b shows the input moves of the controller. The loop performance remains satisfactory despite the extremely
estimated states x1 and x3 of this system are depicted in parts c noisy nature of the time-varying disturbance. Figure 8b shows
and d of Figure 7, respectively. By comparing the estimated the input moves of the controller. Parts c and d of Figure 8
value and the real value, one can see that they present a very present the estimated value and the real value of x1 and x3,
close behavior. Figure 8a presents the simulation results for respectively. Figure 9a shows the simulation results of the
tracking problem with the process having a time delay τs ) 2 process having a set-point change from x2 ) 3 to x2 ) 4 and a
in the state, a set-point change from x2 ) 3 to x2 ) 4, and an time delay τs ) 2 in the state for t e 10 and a τs ) 5 in the
oscillatory disturbance d ) 0.1 sin(t). In this case, the closed- state for t > 10, with the proposed controller. Figure 9b shows
8972 Ind. Eng. Chem. Res., Vol. 45, No. 26, 2006
the input moves of the controller. Parts c and d of Figure 9 (5) Velasco, M.; Alvarez, J. A.; Castro, R. Approximate Disturbance
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