Decentralized Robust PI Controller Design For An Industrial Utility Boiler - An IMC Method

Abstract

This paper presents a scheme for designing a robust decentralized PI controller for an industrial utility boiler system. First, a new method for designing robust decentralized PI controllers for uncertain LTI MIMO systems is presented. Sufficient conditions for closed-loop stability and diagonal dominance of a multivariable system are given. For each isolated subsystem a first order approximation is obtained. Then, achieving robust stability and closedloop diagonal dominance is formulated as local robust performance problems. It is shown by selecting time constants of the closed-loop isolated subsystems appropriately, these local robust performance problems are solved and the interactions between closed-loop stabilized subsystems are attenuated. The internal model control (IMC) method is used to design local PI controllers. The suggested design strategy is applicable to unstable systems as well. Thereafter, the nonlinear model of an industrial utility boiler is linearized about its operating points and the nonlinearity is modeled as uncertainty for a nominal LTI MIMO system. Using the new proposed method, a decentralized PI controller for the uncertain LTI nominal model is designed. The designed controller is applied to the real system. The simulation results show the effectiveness of the proposed methodology.