![Page 1: MODEL! "There is nothing so practical as a good theory." Ludwig Boltzman](https://reader035.vdocuments.us/reader035/viewer/2022062516/56649e0b5503460f94af3d94/html5/thumbnails/1.jpg)
![Page 2: MODEL! "There is nothing so practical as a good theory." Ludwig Boltzman](https://reader035.vdocuments.us/reader035/viewer/2022062516/56649e0b5503460f94af3d94/html5/thumbnails/2.jpg)
MODEL!
"There is nothing so practical as a good theory." Ludwig Boltzman ),,(ln)( NVUkZS B
![Page 3: MODEL! "There is nothing so practical as a good theory." Ludwig Boltzman](https://reader035.vdocuments.us/reader035/viewer/2022062516/56649e0b5503460f94af3d94/html5/thumbnails/3.jpg)
)sin()(0
tatOrbit i
n
ii
Nonlinear Data Fitting
![Page 4: MODEL! "There is nothing so practical as a good theory." Ludwig Boltzman](https://reader035.vdocuments.us/reader035/viewer/2022062516/56649e0b5503460f94af3d94/html5/thumbnails/4.jpg)
Physics
• Kepler’s Laws• Newton’s Laws
![Page 5: MODEL! "There is nothing so practical as a good theory." Ludwig Boltzman](https://reader035.vdocuments.us/reader035/viewer/2022062516/56649e0b5503460f94af3d94/html5/thumbnails/5.jpg)
Galileo Before The Papal Tribunal
Copernicus 1473-1543 Tycho Brahe 1546-1601Galileo 1564-1642Kepler 1571-1630 Newton 1642-1727
![Page 6: MODEL! "There is nothing so practical as a good theory." Ludwig Boltzman](https://reader035.vdocuments.us/reader035/viewer/2022062516/56649e0b5503460f94af3d94/html5/thumbnails/6.jpg)
IFAC World Congress Helsinki, Suomi-Finland 1978
![Page 7: MODEL! "There is nothing so practical as a good theory." Ludwig Boltzman](https://reader035.vdocuments.us/reader035/viewer/2022062516/56649e0b5503460f94af3d94/html5/thumbnails/7.jpg)
4756 linesof assemblycode
15 linesof MATLABcode
CMU
Pitt
![Page 8: MODEL! "There is nothing so practical as a good theory." Ludwig Boltzman](https://reader035.vdocuments.us/reader035/viewer/2022062516/56649e0b5503460f94af3d94/html5/thumbnails/8.jpg)
![Page 9: MODEL! "There is nothing so practical as a good theory." Ludwig Boltzman](https://reader035.vdocuments.us/reader035/viewer/2022062516/56649e0b5503460f94af3d94/html5/thumbnails/9.jpg)
Titan IV Project with Martin MariettaAdaptive Control Modifications:
• sigma modification • parameter projection• deadzone• relative deadzone• forgetting factor• variable forgetting factor• square root factorization• normalization• leakage• ehc• gmv• gpc• lqr• pole-placement• minimum variance control• stochastic control• simulations• experiments• theory
• Stochastic• Robust• Deterministic
• ….
![Page 10: MODEL! "There is nothing so practical as a good theory." Ludwig Boltzman](https://reader035.vdocuments.us/reader035/viewer/2022062516/56649e0b5503460f94af3d94/html5/thumbnails/10.jpg)
![Page 11: MODEL! "There is nothing so practical as a good theory." Ludwig Boltzman](https://reader035.vdocuments.us/reader035/viewer/2022062516/56649e0b5503460f94af3d94/html5/thumbnails/11.jpg)
So-What Went Wrong?
21202dyyy spsp
Theorem (IEEE TAC 1992):
![Page 12: MODEL! "There is nothing so practical as a good theory." Ludwig Boltzman](https://reader035.vdocuments.us/reader035/viewer/2022062516/56649e0b5503460f94af3d94/html5/thumbnails/12.jpg)
Feed TT
Control System
Product out
Cooling water inCooling water out
Input (u)Output (y)
What is Process Control?
![Page 13: MODEL! "There is nothing so practical as a good theory." Ludwig Boltzman](https://reader035.vdocuments.us/reader035/viewer/2022062516/56649e0b5503460f94af3d94/html5/thumbnails/13.jpg)
Feed TT
Control System
Product out
Cooling water inCooling water out
Input (u)Output (y)
u – input (deviation variable)y – output (deviation variable)d –disturbance (deviation variable)e – deviation (deviation)r – setpoint (deviation)G(s) –linear transfer function s – Laplace operator Data fitting
• Step response• Impulse response• Frequency response
The Transfer Function
)(
),,()(
xhy
udxgxfdt
dx
![Page 14: MODEL! "There is nothing so practical as a good theory." Ludwig Boltzman](https://reader035.vdocuments.us/reader035/viewer/2022062516/56649e0b5503460f94af3d94/html5/thumbnails/14.jpg)
Feed FT
Control System
Product out
Cooling water inCooling water out
Input (u)
Output (y)
![Page 15: MODEL! "There is nothing so practical as a good theory." Ludwig Boltzman](https://reader035.vdocuments.us/reader035/viewer/2022062516/56649e0b5503460f94af3d94/html5/thumbnails/15.jpg)
Feed TT
Control System
Product out
Cooling water inCooling water out
Input (u)
Output (y)
![Page 16: MODEL! "There is nothing so practical as a good theory." Ludwig Boltzman](https://reader035.vdocuments.us/reader035/viewer/2022062516/56649e0b5503460f94af3d94/html5/thumbnails/16.jpg)
Feed TT
Control System
Product out
Cooling water inCooling water out
Input (u)Output (y)
![Page 17: MODEL! "There is nothing so practical as a good theory." Ludwig Boltzman](https://reader035.vdocuments.us/reader035/viewer/2022062516/56649e0b5503460f94af3d94/html5/thumbnails/17.jpg)
Feed TT
Product out
Cooling water inCooling water out
Input (u)
Output (y)
CT
Control System
![Page 18: MODEL! "There is nothing so practical as a good theory." Ludwig Boltzman](https://reader035.vdocuments.us/reader035/viewer/2022062516/56649e0b5503460f94af3d94/html5/thumbnails/18.jpg)
Feed
Product out
Cooling water inCooling water out
Input (u)
Output (y)
TT
ST
Control System
![Page 19: MODEL! "There is nothing so practical as a good theory." Ludwig Boltzman](https://reader035.vdocuments.us/reader035/viewer/2022062516/56649e0b5503460f94af3d94/html5/thumbnails/19.jpg)
Feed
Product out
Cooling water inCooling water out
Input (u)
Output (y)
CT
ST
Control System
![Page 20: MODEL! "There is nothing so practical as a good theory." Ludwig Boltzman](https://reader035.vdocuments.us/reader035/viewer/2022062516/56649e0b5503460f94af3d94/html5/thumbnails/20.jpg)
![Page 21: MODEL! "There is nothing so practical as a good theory." Ludwig Boltzman](https://reader035.vdocuments.us/reader035/viewer/2022062516/56649e0b5503460f94af3d94/html5/thumbnails/21.jpg)
Thermodynamics (Irreversible) and Process Control
![Page 22: MODEL! "There is nothing so practical as a good theory." Ludwig Boltzman](https://reader035.vdocuments.us/reader035/viewer/2022062516/56649e0b5503460f94af3d94/html5/thumbnails/22.jpg)
Passivity Theory
supply
0
Storage
)0()(
0)(
tyuVtV
tV
Dissipation inequality
Process
uout
y
yu
y
u
:(supply)Power
:(effort) Force
:(flow)Current
uin
Two types of variables:• Extensive• Intensive
![Page 23: MODEL! "There is nothing so practical as a good theory." Ludwig Boltzman](https://reader035.vdocuments.us/reader035/viewer/2022062516/56649e0b5503460f94af3d94/html5/thumbnails/23.jpg)
supply
0
Storage
)0()(
0)(
tyuVtV
tV
2
1
1)0()(
0)(
dQT
StS
tS???
Dissipation inequality
Clausius-Planck
Processu y
),,(ln)( NVUkZS B
Extensive Intensive
Passivity Theory and Thermodynamics
![Page 24: MODEL! "There is nothing so practical as a good theory." Ludwig Boltzman](https://reader035.vdocuments.us/reader035/viewer/2022062516/56649e0b5503460f94af3d94/html5/thumbnails/24.jpg)
Keenan’s Availability
Theorem: A(Z1,Z2) is positive if the intensive variables corresponding to states Z1 and Z2 are different.
![Page 25: MODEL! "There is nothing so practical as a good theory." Ludwig Boltzman](https://reader035.vdocuments.us/reader035/viewer/2022062516/56649e0b5503460f94af3d94/html5/thumbnails/25.jpg)
System
u y
Controller
Information flow
Physical flow
A1A2
A3
A4A5
A41
A42
A43
r1
r2
s3 = r3
s4 = r4
s5 = r5
s5s41 = r41
T3
T2
T1
r4
NETWORKS OF PASSIVE PROCESSES: SIGNALS AND SYSTEMS
sConnection TerminalsProcesses
~~~~~~ fwfXpwdt
dA TTT
Theorem (J. Proc. Control 2007, Jillson)
![Page 26: MODEL! "There is nothing so practical as a good theory." Ludwig Boltzman](https://reader035.vdocuments.us/reader035/viewer/2022062516/56649e0b5503460f94af3d94/html5/thumbnails/26.jpg)
Why is Passivity so Precious?
S
eC
n1
+
+
-+
n2
u y
2C
S
:Controller ISP
:System Passive
eyuydt
dV
yudt
dV
22212nny
Theorem (Automatica 2001, Alonso):All Chemical Processes can be Controlled using PID Control
![Page 27: MODEL! "There is nothing so practical as a good theory." Ludwig Boltzman](https://reader035.vdocuments.us/reader035/viewer/2022062516/56649e0b5503460f94af3d94/html5/thumbnails/27.jpg)
PPG Glass Process
![Page 28: MODEL! "There is nothing so practical as a good theory." Ludwig Boltzman](https://reader035.vdocuments.us/reader035/viewer/2022062516/56649e0b5503460f94af3d94/html5/thumbnails/28.jpg)
Temperature Control
![Page 29: MODEL! "There is nothing so practical as a good theory." Ludwig Boltzman](https://reader035.vdocuments.us/reader035/viewer/2022062516/56649e0b5503460f94af3d94/html5/thumbnails/29.jpg)
ZSw
ZkZS
AMVUxZ
xhy
udxgxfdt
dx
: variablesIntensive
) )(ln)( :(Entropy
,..),,,()( :State
)(
),,()(
B
MODEL!
The “Sargent Program”
The Temple of Chemical Engineering (Paul Sides)
• Conservation Laws• Dissipation
Dissipation and Invariants Process Systems and Process Networks
![Page 30: MODEL! "There is nothing so practical as a good theory." Ludwig Boltzman](https://reader035.vdocuments.us/reader035/viewer/2022062516/56649e0b5503460f94af3d94/html5/thumbnails/30.jpg)
![Page 31: MODEL! "There is nothing so practical as a good theory." Ludwig Boltzman](https://reader035.vdocuments.us/reader035/viewer/2022062516/56649e0b5503460f94af3d94/html5/thumbnails/31.jpg)
Solar Grade SiliconChristy White, G. Zeininger Fluor, P. Ege ReacTech
Particles are well-mixed
Integrate over time for particle size
distribution
Multiscale model for distributed parameters
Computationalfluid dynamics
Plug flowreactor
Populationbalance Bed temperature
Bed density
Granular
yield
Particle
size
SiH4 SiSiH4 SiSi
Control fluidization regime
Simulate once to obtain model input
Gas and powder are plug flow
Integrate over height for granular yield
Slow Fast
![Page 32: MODEL! "There is nothing so practical as a good theory." Ludwig Boltzman](https://reader035.vdocuments.us/reader035/viewer/2022062516/56649e0b5503460f94af3d94/html5/thumbnails/32.jpg)
![Page 33: MODEL! "There is nothing so practical as a good theory." Ludwig Boltzman](https://reader035.vdocuments.us/reader035/viewer/2022062516/56649e0b5503460f94af3d94/html5/thumbnails/33.jpg)
This is not my research group
![Page 34: MODEL! "There is nothing so practical as a good theory." Ludwig Boltzman](https://reader035.vdocuments.us/reader035/viewer/2022062516/56649e0b5503460f94af3d94/html5/thumbnails/34.jpg)
Trust is Good But Control is BetterVladimir Lenin