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Seamless PID–MPC Hybrid Control

Norlund, Frida LU orcid ; Hägglund, Tore LU and Soltesz, Kristian LU orcid (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.
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author
; and
organization
publishing date
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}},
}