Seamless PID–MPC Hybrid Control
(2024) 4th IFAC Conference on Advances in Proportional-Integral-Derivative Control In IFAC Proceedings Volumes (IFAC-PapersOnline)- Abstract
- It is common that PID control loops function satisfactorily most of the time, but that they have issues with violating input, state, or output constraints. While MPC solves this problem in principle, it is in practice not straightforward to replace a functioning PID controller with an MPC implementation. This is particularly true for loops that are critical to plant operation, where stops associated with controller replacement and tuning can turn out costly. We propose a novel configuration where an MPC controller is designed based on the PID closed-loop, and provides a feed-forward term to its control signal. This configuration enables a smooth transition between unconstrained PID operation and MPC-dominated control, governed by a single... (More)
- It is common that PID control loops function satisfactorily most of the time, but that they have issues with violating input, state, or output constraints. While MPC solves this problem in principle, it is in practice not straightforward to replace a functioning PID controller with an MPC implementation. This is particularly true for loops that are critical to plant operation, where stops associated with controller replacement and tuning can turn out costly. We propose a novel configuration where an MPC controller is designed based on the PID closed-loop, and provides a feed-forward term to its control signal. This configuration enables a smooth transition between unconstrained PID operation and MPC-dominated control, governed by a single scalar parameter α. We demonstrate the approach using a relevant process industrial application: flotation level control in mineral enrichment. Using a practical example, we show how our approach results in a structure where the PID control loop can be kept, while leveraging the constraint-honoring advantage of MPC control.
(Less)
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/68c954dc-5c88-47ed-bd51-d54fba032c3d
- author
- Norlund, Frida LU ; Hägglund, Tore LU and Soltesz, Kristian LU
- organization
- publishing date
- 2024
- type
- Contribution to journal
- publication status
- in press
- subject
- keywords
- Proportional-integrating-derivating (PID) control, Model predictive control (MPC), Feed-forward, Mining flotation.
- in
- IFAC Proceedings Volumes (IFAC-PapersOnline)
- publisher
- IFAC Secretariat
- conference name
- 4th IFAC Conference on Advances in Proportional-Integral-Derivative Control
- conference location
- Almeria, Spain
- conference dates
- 2024-06-12 - 2024-06-14
- ISSN
- 2405-8963
- project
- Data-driven modeling for sustainable mining
- language
- English
- LU publication?
- yes
- id
- 68c954dc-5c88-47ed-bd51-d54fba032c3d
- date added to LUP
- 2024-03-04 17:48:25
- date last changed
- 2024-03-19 19:26:04
@article{68c954dc-5c88-47ed-bd51-d54fba032c3d, abstract = {{It is common that PID control loops function satisfactorily most of the time, but that they have issues with violating input, state, or output constraints. While MPC solves this problem in principle, it is in practice not straightforward to replace a functioning PID controller with an MPC implementation. This is particularly true for loops that are critical to plant operation, where stops associated with controller replacement and tuning can turn out costly. We propose a novel configuration where an MPC controller is designed based on the PID closed-loop, and provides a feed-forward term to its control signal. This configuration enables a smooth transition between unconstrained PID operation and MPC-dominated control, governed by a single scalar parameter α. We demonstrate the approach using a relevant process industrial application: flotation level control in mineral enrichment. Using a practical example, we show how our approach results in a structure where the PID control loop can be kept, while leveraging the constraint-honoring advantage of MPC control.<br/>}}, author = {{Norlund, Frida and Hägglund, Tore and Soltesz, Kristian}}, issn = {{2405-8963}}, keywords = {{Proportional-integrating-derivating (PID) control; Model predictive control (MPC); Feed-forward, Mining flotation.}}, language = {{eng}}, publisher = {{IFAC Secretariat}}, series = {{IFAC Proceedings Volumes (IFAC-PapersOnline)}}, title = {{Seamless PID–MPC Hybrid Control}}, url = {{https://lup.lub.lu.se/search/files/173253699/norlund24a.pdf}}, year = {{2024}}, }