IFAC-2002 konferansen Barcelona, 20.-26. juli 2002 ----------------------------- %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% Monday 22. July: Plenary session: Luenberger D.G.: Systems Concepts in Finantial Pricing Theory --------------------------------------------------------------------------- *Demonstrated how to apply system theory concepts to pricing. *Finance theory: 1) Pricing (determination of a fair price of an asset) 2) Portfolio design (determination of the best portifolio given existing prices or estimates of future prices) Relation between system theory and pricing: -system theory concepts contribute to the developement of the pricing theory -pricing theory change the way important systems and controlled problems are formualted, e.g. changed objective function. Session: Measurement-based Optimization Lee K.S., H. Ahn, I.S. Chen, J.H. Lee, D.R. Yang: Optimal Iterative Learning Control Of Wafer Temperature Uniformity In Rapid Thermal Processing --------------------------------------------------------------------------- - Welz C., B. Srinivasan, D. Bonvin: Evaluation Of Measurement-based Optimization Schemes For Batch Distillation --------------------------------------------------------------------------- *measurement-based optimization=use measurements to compensate for the uncertainty -measurement-based optimization schemes are classified and compared to a batch distillation column with terminal quality constraint Cruse A.*, W. Marquardt, A. Helbig, J.-S. Kussi: Optimizing Adaptive Calorimetric Model Predictive Control of A Benchmark Semi-Batch Reaction Process --------------------------------------------------------------------------- (-optimizing adaptive calorimetric MPC scheme applied to solve the combined temperature control and feed rate optimization problem of the benchmark semi-batch reaction process.) Govatsmark M.S., S. Skogestad: Selection of Controlled Variables And Robust Setpoints --------------------------------------------------------------------------- - Cheng J.-H., E. Zafiriou: Results Analysis for Iterative Feedback Steady-state Optimization --------------------------------------------------------------------------- *Conventional RTO/on-line optimization: repetitive on-line optimization is used to improve process operation by determining the setpoints for the lower level feedback systems optimalization results analysed before implementation to find out if the inherent variability is caused by measurement error or model uncertainty/disturbances *iterative feedback optimization=similar to numerical optimization, where the iteration in numerical optimization is replaced by steady-state operation period in process operation. Process measurements are used to update the gradient information directly without requiring model parameter updating. (similar idea as Tyssedal presented at PROST annual meeting 2001) Francois G., B. Srinivasan, D. Bonvin*: Run-to-run OPtimization Of Batch Emulsion Polymerization --------------------------------------------------------------------------- -P-control used to control the terminal constraint for repeted batch operation Session: Production Planning & Optimization Models Four of six presentations cancelled! Tian Y., T. Sawaragi, Q. Wei, N. Sannomiya: An Application of DBR And Buffer Manangement In Solving Real World Problems --------------------------------------------------------------------------- -operational research problem Latre L.G., M.T.M. Rodrigues: Sequential Approach To Production Planning in Multisite Environments --------------------------------------------------------------------------- -present a sequential approach to production plaining -solved by using MILP -typical operational research solution Plenary Lecture: Blasi A.: Conditions for Successful Automation in Industrial Applications --------------------------------------------------------------------------- -how to apply automation successfully in the industry Panel Discussion: Future Directions of Automatic Control --------------------------------------------------------------------------- -Chairman (R. Izerman) does not understand why so many are dealing with feedback control (2/3) when feedforward control is the future: Feedback is always coming too late and we get improved models (Just comments from the chairman). -Proporsal to replace 'signal approach' by some 'energy-minimizing approach' which gives a simplified description of the system. Otherwise the problem formulation is too complex and the resulting control performance is too conservative. -IFAC in the future: *More turned against application and less against theory *How to detect and include new areas faster? -What is the future vision of control? E.g. medicine community: solve the cancer problem. -Want to try to make a summary of what was said in the discussion - check homepage %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% Tuesday 23. July: Plenary Lecture: Futura K.: Super-Mechano Systems --------------------------------------------------------------------------- *Super-mechano systems (SMS) = new mechanical systems with self-organising capabilities of its structure and functions -Idea: simulatan design of objective-configured mechanism and appropriate controller - fusion of mechanic and control to attain high system performance Session: Power Plant Modelling And Simulation Erlich I., U. Bachmann: Dynamic Behavior of Variable Speed Pump Storage Units in The German Electric Power System --------------------------------------------------------------------------- -simulation studies with respects to a new pump storage power plant Goldistal in the German power company VEAG -studied the dynamic behavior of the power plant in interaction with the power system - voltage variation Matthias H.-B., P. Angerer, E. Doujak, B. List: Modelling The Influences of Hydro Power Refurbishing Projects --------------------------------------------------------------------------- -developing a knowlegde based system to evaluate the technical conditions by analysing the effect of different component on selected parameters => results in a list of possible improvements (prioritied) Weber H.W., M. Hladky, T. Haase, S. Spreng, C.N. Moser: High Quality Modelling of Hydro Power Plants for Restoration Studies --------------------------------------------------------------------------- -verification studies of existing plans for network restart after blackouts in the European electrical energy systems require detailed models of electrical system, especially the power plants -here: high quality models of different types of hydro power plants in Switzerland -Checked: Many details, but no non-linear model presented. Sulc, Dlouhy, Hrdlicka: Simulated Boiler Pressure Pulsation in Comparison with Experimental Measurement --------------------------------------------------------------------------- -two approaches (detailed + simplified model) to study the effect of the geometry on the flue gas side of the reboiler with resepct to pressure variations => Use: boiler design Ferrari-Trecate G., E. Gallesty, A. Stothert, G. Hovland, P. Letizia, M. Spedicato, M. Morari, M. Antoine: Modelling And Control of Co-Generation Power Plants Under Consideration of Lifetime Consumption: A Hybrid System Approach --------------------------------------------------------------------------- -model of combined cycle power plant in the Mixed Logical Dynamic framework (include startup, switching of turbines, etc.) -economic optimization is done by using MPC (economic objective, not setpoint objective). +no detailed physical model of the plant, but many interesting references and interesting problem formulation. Check Session: Advanced Control Concepts for Power Plants I Liu G.P., S. Daley, G.R. Duan: Application of Optimal-tuning PID Control to Industrial Hydraulic Systems --------------------------------------------------------------------------- - Aleotti L., C. Aurora, P. Colombo, L. Magni, F. Pretolani, R. Scattolini, G. Villa: Multivariable Predictive Control of A Thermal Power Plant --------------------------------------------------------------------------- -Apply MPC (industrial MPC) to a power plant (here: detailed, nonlinear simulator) to improve the effiency in the operation (motivated: liberation of the energy market). -Clear problem definition - Check. Session: Nonlinear Process Control I Motivation: -Many people claim that nonlinear control are the future. -When should nonlinear control be applied? -Other nonlinear controllers than MPC based on nonlinear model, gain scheduling, adaptive control. Guay M., T. Zhang: Adaptive Extremum Seeking Control of Nonlinear Dynamic Systems With Parametric Uncertainties --------------------------------------------------------------------------- *extremum seeking control = find the operating setpoints that maximize or minmize the an objective function (motivation: some applications the control objective is the optimization of some objective function which depend on unknown plant parameters or the selection of the desired states to keep a performance function at its extremum value.) -Self-optimizing control is mentioned (no references): "Self-optimizing control and extremum seeking control are two methods to handle these kinds of optimization problems." -presented toy example: simple self-optimizing solution (x1/theta1) Hernjak N., F.J. Doyle, R.K. Pearson: Control-relevant Characterization of Classes of Process Systems --------------------------------------------------------------------------- -define class of nonlinearities and corresponding properties, try to differ between control-relevant and not control-relevant nonlineraities -two examples (isotherm CSTR and non-isoterm reactor) are used to demonstrate the different types. -interesting - check more: relevant self-optimizing control nonlinearities Monningmann M., W. Marquardt: Bifurcation Placement of Hopf Points for Stabilization of Equilibria --------------------------------------------------------------------------- - Session: Nonlinear Process Control II Boskovic D.M., M. Krstic: Boundary Control Of Chemical Tubular Reactor --------------------------------------------------------------------------- -Stabilizing plug flow reactor by using modelbased, feedback control: Controlling a set of compositions and temperatures inside the reactor by manipulating on the inlet temperature and inlet composition Brown J., D. Dochain, M. Perrier, F. Forbes: Modal Decomposition of A Nonlinear Tubular Reactor Model: A Control Perspective --------------------------------------------------------------------------- -modal decomposition to a nonlinear convection-reaction-diffusion distributed parameter system: dynamic model of an industrial pulp bleaching tubular reactor -a discretized, finite-dimensional dynamic model which contains the dominate states of the process dynamics, is used to controller design Waller J.B., H.T. Toivonen: A Neuro-fuzzy Model Predictive Controller Applied to A Ph-neutralization Process --------------------------------------------------------------------------- -nonlinear MPC based on neuro-fuzzy process model -good: strong nonlinearities depend strongly on the operation point (general wrt. nonlinear control) -applied to pH-neutralization (both reference tracking and disturbances) Wu W.: Output Regulation of Reactor Systems with Actuator Constraints --------------------------------------------------------------------------- - Longhi L.G.S., P.R. Barrera: Disturbance Attenuation of An Experimental Ph Neutralization System --------------------------------------------------------------------------- -Motivation (nonlinear control): The process gain shows large variation within the expected operating range. -Nonlinear H-infinity control (based on solving Hamilton-Jacobi equations) is implemented and compared with PID-control wrt. pH-control around neutralization point in a CSTR (strong acid - strong base) %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% Wednesday 24. July: Plenary Lecture: Goodwin G.C.: Inverse Problems With Constraints --------------------------------------------------------------------------- *The inverse problem = given an output (e.g. a measurement) determine the input which lead to that output. -Difficult: ill-conditioned and/or constrained (input / output) -Signal processing, telecommunication and control are all dealing with inverse problems, but with different solutions and aspects: Control - stability Telecommunications - performance Signal processing - implementation -Learn of each other! Session: Process Modelling and Analysis Tools Scharwaechter H., L. von Wedel, A. Yang, W. Marquardt: A Tool Integration Framework For Dynamic Simulation in Process Engineering -------------------------------------------------------------------------- -Motivation: Integration of different simulation tools for the design and operation in process plants may be necessary in complex simulation tasks in a technically and economically manner -propose a "simulation framework approach" towards systematic support to tool integration (Prototype CHEOPS developed) -identified and analyzed key issues connected to simulation tool integration Dadhe K., S. Engell, R. Gesthuisem, S. Pegel, M. Volker: Control Structure Selection for A Reactive Distillation Column -------------------------------------------------------------------------- -Motivation: Integrated processes (e.g. reaction and separation) reduce the degrees of freedom and require tight control to operate the process at optimal conditions. -Presented a systematic control structure selection consisting of pre-screening of structures and calculation of the attainable performance based on available measurements and input variables. -applied to heterogous catalyzed esterfication of methyl acetate in a batch reactive distillation column. Wittenmark B., M.E. Salgado: Hankel-norm Based Interaction Measure For Input-Output Pairing -------------------------------------------------------------------------- -presented a new interaction measurement for stable multivaiable system (Hankel norm index) -dynamic extention of idea in the classic RGA -advantages: frequency dependent interactions and appliable in input-output pairing (What about frequency dependent RGA?) Petersson M., K.-E. Årzen, H. Sandberg, L. de Mare: Implementaion of A Tool for Control Structure Selection -------------------------------------------------------------------------- -Present a method which indicate if a considered SISO-loop will benefit from an addition of feed-forward control from a measured disturbance -Extended to feedback control in the future? Eskinat E.: Consistency Relations in Process Modeling -------------------------------------------------------------------------- -Mass and energy balances in a process give dependent elements in a transfer function matrices => consistency relation -Important wrt data reconcilation, model reduction, model uncertainty. Horowitz B., J. Liebman, C. Ma, T.J. Koo, T.A. Henzinger, A. Sangiovanni- Vincentelli, S. Sastry: Embedded Software Design And System Integration for Rotorcraft Uav Using Platforms -------------------------------------------------------------------------- -Helicopter control Skipped afternoon- and evening sessions - sightseeing in Barcelona. Missed plenary lecture of J. Orasanu: Risk Perception: A Critical Element of Aviation Safety and panel discussion, e.g. Playing with Automation: Toys and/or Science. %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% Thursday 25. July: Plenary Session: Kopetz K.: Time-triggered Real-time Computing --------------------------------------------------------------------------- -presented the basic principle for the real-time computing system -real-time computing systems concern with both value and temporal correctness *task="computational or communication process which is started whenever the environment delivers a service request". *event-triggered task = task started by an external event *time-triggered task = task started when the global timereaches a specific value Session: Linearization Of Nonlinear Systems Motivation: -Initial: similar idea as self-optimizing control? -Simplified controller design? Deutscher J.: Approximate Input-Output Linearization Of Nonminimum Phase Nonlinear Systems With Linear Unforced Dynamics --------------------------------------------------------------------------- (-presented an approximate input-output linearization approach for non-minimum phase nonlinear system with linear unforced dynamic) Ge S.S., Z. Sun, T.H. Lee: Criterion For Nonregular Feedback Linearization With Application --------------------------------------------------------------------------- (-presented a new criterion for nonregular feedback linearization for nonliner systems with 2 inputs) Session: History of Control: 1955-1975 Motivation: Always good to know the history. Owens D.: A Historical View Of Multivariable Frequency Domain Control --------------------------------------------------------------------------- -1960-1970: new frequency domain methods in the analysis and design of multivariable systems based on Nyquist and root locus theory. -british/persional review of ideas, concepts and technics. Dorato P.: A History Of Analytic Feedback Systems --------------------------------------------------------------------------- -A review of the history of analytic/ syntesis method for linear feedback system design. *Analytic design=design methods where an existence theorem is available (alt:synthesis) and computable algorithm for computing a solution is available when the solution exists (e.g. LQG, pole-placement) -Classes of methods: analytic design methods, ad hoc design methods (usually when the controllers have fixed structure or lower order), numerical design methods Session: Applications of Robust Control I Motivation: Numerical robustness? Industrial application? Castano F., M.G. Ortega, F.R. Rubi: A Multivariable H-infinity Controller For A Rotary Dryer --------------------------------------------------------------------------- -design and implemented a multivariable H-infinity controller for drying process (cocurrent rotary dryer to evaporate moisture from a two-phase cake) -readjusting the weight function until achieved good control (Comment: Multivariable Frequency Analysis-book is very good) One more??? Session: Linear Model Predictive Control Motivation: Objective criterium? Advantages? Compared to on-line dyn. optimization. McAvoy T.: Model Predictive Statistical Process Control - Handling Step Upsets --------------------------------------------------------------------------- - Kakalis N.M.P., V. Dua, V. Sakizlis, J.D. Perkins, E.N. Pistikopoulus: A Parametric Optimization Approach For Robust MPC --------------------------------------------------------------------------- -presented an algorithm for deriving a explicit robust modelbased controller -robust optimal controller is derived off-line as function of the states -Advantage: avoid repetitive solution of on-line optimization, on-line implementation is reduced to a sequence of simplefunction evaluations. -applied to the well-known evaporization example Ramos C., J.S. Senent, X. Blasco, J. Sanchis: Lp-dmc Control Of A Chemical Plant With Integral Behavior --------------------------------------------------------------------------- -describe the implementation of a hierarchical distributed control system from a chemical plant using industrial standard components: regulatory control (PID), multivariable control (MPC), optimization and economic layer (LP) -Question: What is new compared to industrial practice? Shows all details - not done by the industry. Schafer J., A. Cinar: Multivariable Mpc Performance Assessment, Monitoring and Diagnosis --------------------------------------------------------------------------- -presented a method for determine a benchmark and monitoring MPC performance on-line -Performance measure: Monitoring: Ratio of historical and achieved performance (something wrong happend?) Diagnosis : Ratio of design and achieved performance (acceptable control performance?) -ex: linear and a nonlinear model of the well-known evaporation process Session: Large Scale System I Labibi B., B. Lohmann, A.K. Sedigh, P.j. Maralani: Decentralized Quantitative Feedback Design Of Large-Scale Systems --------------------------------------------------------------------------- Cancelled Session: Nonlinear Model Predictive Control Martinsen F.*, L.T. Biegler, B.A. Foss: Application Of OPtimization Algorithms To Nonlinear Mpc --------------------------------------------------------------------------- -evaluated use of different discretization methods and SQP-optimization algorithms in nonlinear model predictive control through a case study of a CSTR. Bloemen H.H.J., V. Verdult, T.J.J. van den Boom, M. Verhaegen: Bilinear Versus Linear Mpc: Application To A Polymerization Process --------------------------------------------------------------------------- -compare a linear model-based and a bilinear model-based identification and predictive control: 1. Black-box identification of input-output data from a nonlinear, first-principle model 2. Black-box model applied in MPC to control the nonlinear process (ex: free radical polymerization of methyl methacrylate) 3. Bilinear MPC better than linear MPC Session: Control Applications of Optimization -Motivation: Some good case-studies for applying self-optimizing control? -Few people at this session: 7 including chairman and the speaker -One speaker had probably relative relaxed preparation to the presentation: The transparents was just copied from his article! Tarasyev A.M.*, C. Watanabe: Optimal Trends In Models Of Economic Growth --------------------------------------------------------------------------- (-applied optimal control in composition of production, technology stocks and rates in a nonlinear model of growth) Tigrek T., S. Dasgupta, T.F. Smith: Nonlinear Optimal Control Of Hvac Systems --------------------------------------------------------------------------- -applied optimal control to HVAC-systems (Heating, Ventilation and Air- Conditioning) (1/3 of the energy consumption in the US) -objective: energy effiency vs user comfort -controlled variables already selected - no real objective function defined Session: Advanced Control Concepts For Power Plants and Power Systems II Carpanzano E., L. Ferrarini, C. Maffezzoni: A Bottom-up Methodology For Testing Complex Control Functions Of Process and Power Plants --------------------------------------------------------------------------- -presented a modular simulation-based technique for the automatic verification of logic control functions => define a structured bttom-up methodlogy for testing of the overall control functions of process and power plants Watanabe T.: Robust Decentralized Turbine-governor Compressor Control Subject To Constraint On Turbine Output --------------------------------------------------------------------------- - Banquett dinner on the old railway station %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% Friday 26. July: Plenary Session: Dormido S.: The Learning Of Control: Present and Future --------------------------------------------------------------------------- - Session: Fundamental Control Performance Limitation and Design Tradeoff Skogestad, S., K. Havre, T. Larsson: Control Limitaions For Unstable Plant --------------------------------------------------------------------------- - Metha, G.H., A. Banaszuk, C.A. Jacobsen: Framework For Studying Limitations Of Achieveable Performance In Control Of Nonlinear Combustion Processes --------------------------------------------------------------------------- - Chen J., S. Hara, G. Chen: Best Tracking And Regulation Perfromance Under Control Effort Constraints: Two-parameter Controller Case --------------------------------------------------------------------------- - Perez T., G.C. Goodwin*, M.M. Seron: Cheap Control Fundamental Limitation Of Input Constrained Linear Systems --------------------------------------------------------------------------- -