AUTOMATICALLY CONFIGURING RADIAL BASIS FUNCTION NEURAL NETWORKS FOR NONLINEAR INTERNAL MODEL CONTROL

A nonlinear internal model control (NIMC) strategy based on automatically configuring radial basis function networks (RBFN) is proposed for single-input single-output (SISO) systems of relative degree greater than unity. The automatic configuration and training of the RBFN is carried out employing hierarchically-self-organizing-learning algorithm, which eliminates a predefined network structure, with closed-loop input-output data generated for a series of setpoint changes using PI controller. Simulation studies with automatically configuring RBFN for isothermal polymerization reactor control demonstrate the superior performance of the proposed control strategy with automatically configuring RBFN over PI control for setpoint tracking as well as disturbance rejection.     

Nonlinear internal model control strategy for neural network models

A nonlinear internal model control (NIMC) strategy based on neural network models is proposed for SISO processes. The neural network model is identified from input—output data using a three-layer feedforward network trained with a conjugate gradient algorithm. The NIMC controller consists of a model inverse controller and a robustness filter with a single tuning parameter. The proposed strategy includes time delay compensation in the form of a Smith predictor and ensures offset-free performance. Extensions for measured disturbances are also presented. The NIMC approach is currently restricted to processes with stable inverses. Two alternative implementations of the control law are discussed and simulations results for a continuous stirred tank reactor and pH neutralization process are presented. The results for these two highly-nonlinear processes demonstrate the ability of the new strategy to outperform conventional PID control.     

The control of MSF desalination plants based on inverse model control by neural network

In this paper, a nonlinear inverse model control strategy based on neural network is proposed for MSF desalination plant. Artificial neural networks (ANNs) can handle complex and nonlinear process relationships, and are robust to noisy data. The designed neural networks consist of three layers identified from input–output data and trained with a descent gradient algorithm. The set point tracking performance of the proposed method was studied when the disturbance is present in the MSF system. Three controllers are designed for controlling the top brine temperature, the level of last stage and salinity. These results show that a neural network inverse model control strategy (NNINVMC) is robust and highly promising to be implemented in such nonlinear systems. Also the comparison between the top brine temperature of the proposed model and NN predicted data from the literature supports the accuracy of the model.     

Application of state estimation based NMPC to an unstable nonlinear process

Model predictive control (MPC) has become very popular both in process industry and academia due to its effectiveness in dealing with nonlinear, multivariable and/or hard-constrained plants.Although linear MPC can be applied for controlling nonlinear processes by obtaining a linearized model of the plant, this is only valid in a limited region. Therefore, a substantial improvement can be achieved by using the whole knowledge of the process dynamics, specially in the presence of marked nonlinearities. This effect can be strong if the process to control is open-loop unstable.The purpose of this paper is to introduce a nonlinear model predictive controller (NMPC) based on nonlinear state estimation, in order to exploit the knowledge of the nonlinear dynamics and to avoid modeling simplifications or linearization.A state-space formulation is proposed to achieve the control objective. To update the optimization involved in NMPC strategy, state estimation based on the measured outputs is proposed.As a particular application, we consider an open-loop unstable jacketed exothermic chemical reactor. This CSTR is widely recognized as a difficult problem for the purpose of control. In order to achieve the control goal, a NMPController coupled with a state observer are designed. The observer is also used to estimate some unmeasured disturbances. Finally, computer simulations are developed for showing the performance of both the nonlinear observer and the control strategy.     

模糊非线性内模控制算法及其在pH值控制中的应用

pH值控制过程具有较强的非线性,历来是过程控制研究的一大热点,本文针对pH值控制系统提出了一种基于模糊推理网的非线性内模控制算法（FNIMC）。模糊推理网用于辨识对象的模糊模型;FNIMC由一个逆模控制器和具有一个可调参数的鲁棒滤波器组成。仿真结果表明该算法优于非线性PID调节器,且计算效率高。     

基于ELM的一类不确定性纯反馈非线性系统的Backstepping自适应控制

针对一类不确定性纯反馈非线性动力学系统,在中值定理、Backstepping控制的基础上,提出一种基于极限学习机（ELM）的自适应神经控制方法。ELM随机确定单隐层前馈网络（SLFNs）的隐含层参数,仅需调整网络的输出权值,能以极快的学习速度获得良好的推广性。在每一步的Backstepping设计中,应用ELM网络对子系统的未知非线性项进行在线逼近,通过Lyapunov稳定性分析设计的权值参数自适应调节律,可以保证闭环非线性系统所有信号半全局最终一致有界,系统的输出收敛于期望轨迹的很小邻域内。将所设计的控制方法应用于化工过程中的连续搅拌反应釜（CSTR）非线性系统实例中,仿真结果表明了控制方法的有效性。     

A MODEL-BASED DIRECT ADAPTIVE PI CONTROLLER FOR NONLINEAR PROCESS CONTROL

This article proposes a model-based direct adaptive proportional-integral (PI) controller for a class of nonlinear processes whose nominal model is input-output linearizable but may not be accurate enough to represent the actual process. The proposed direct adaptive PI controller is composed of two parts: the first is a linearizing feedback control law that is synthesized directly based on the process's nominal model and the second is an adaptive PI controller used to compensate for the model errors. An effective parameter-tuning algorithm is devised such that the proposed direct adaptive PI controller is able to achieve stable and robust control performance under uncertainties. To show the robust stability and performance of the direct adaptive PI control system, a rigorous analysis involving the use of a Lyapunov-based approach is presented. The effectiveness and applicability of the proposed PI control strategy are demonstrated by considering the time-dependent temperature trajectory tracking control of a batch reactor in the presence of plant/model mismatch, unanticipated periodic disturbances, and measurement noises. Furthermore, for use in an environment that lacks full-state measurements, the integration of a sliding observer with the proposed control scheme is suggested and investigated. Extensive simulation results reveal that the proposed model-based direct adaptive PI control strategy enables a highly nonlinear process to achieve robust control performance despite the existence of plant/model mismatch and diversified process uncertainties.     

固定床反应器基于RBF网络的推断控制

<正>一些研究者基于简化机理模型,讨论了固定床反应器的推断控制。然而,工业过程中有许多固定床反应器的机理模型尚难以建立,而且由于固定床反应器特性的复杂性,模型简化和状态估计器的设计等具有较大的困难。因此,基于“黑箱”模型研究固定床反应器的推断控制可能是一条十分有效的途径。Budman等人提出用部分最小二乘法(PLS)以改进回归模型的性能。他们对实验室固定床反应器,假设沿反应器轴向的十点温度可以测量,并据此建立回归模型,然而由于固定床反应器具有严重非线性和时变等特性,用PLS法建立估计器仍有局限性。另外,实际的固定床反应器可能只有少数几个温度可以测量。因此其面向应用的推断控制策略的研究有十分重要的意义。     

Batch-to-batch optimal control of a batch polymerisation process based on stacked neural network models

A neural network based batch-to-batch optimal control strategy is proposed in this paper. In order to overcome the difficulty in developing mechanistic models for batch processes, stacked neural network models are developed from process operational data. Stacked neural networks have enhanced model generalisation capability and can also provide model prediction confidence bounds. However, the optimal control policy calculated based on a neural network model may not be optimal when applied to the true process due to model plant mismatches and the presence of unknown disturbances. Due to the repetitive nature of batch processes, it is possible to improve the operation of the next batch using the information of the current and previous batch runs. A batch-to-batch optimal control strategy based on the linearisation of stacked neural network model is proposed in this paper. Applications to a simulated batch polymerisation reactor demonstrate that the proposed method can improve process performance from batch to batch in the presence of model plant mismatches and unknown disturbances.     

基于Hammerstein-Wiener模型的连续搅拌反应釜神经网络预测控制

针对化工过程中广泛使用的连续搅拌反应釜(CSTR),提出一种基于神经网络的模型预测控制策略,采用分段最小二乘支持向量机辨识Hammerstein-Wiener模型系数的方法,在此基础上建立线性自回归模式〖DK〗(ARX)结构和高斯径向基神经网络串联的非线性预测控制器。利用BP神经网络训练预测控制输入序列和拟牛顿算法求解非线性预测控制律,从而实现一种基于支持向量机Hammerstein-Wiener辨识模型的非线性神经网络预测控制算法。对CSTR的仿真结果表明,该方法能够更有效地跟踪控制反应物浓度。     

反应器-换热器网络的PI-多模型动态矩阵控制

针对反应器-换热器网络动态特性在时间上的多尺度特性,应用奇异摄动法得到它在两个不同时间尺度上的子模型：快时间尺度上的能量平衡模型、慢时间尺度上的物料平衡模型。同时,考虑到反应器-换热器网络非线性特性、存在噪声干扰、参数扰动等模型不确定性,快、慢时间尺度子模型分别采用PI控制、多模型动态矩阵控制。最后,通过与快、慢时间尺度子模型分别采用PI控制、动态输出反馈控制的控制策略的仿真效果比较,表明本文中的控制策略在克服噪声、参数扰动方面具有一定优势。     

基于T-S模糊模型的间歇过程的迭代学习容错控制

间歇过程不仅具有强非线性,同时还会受到诸如执行器等故障影响,研究非线性间歇过程在具有故障的情况下依然稳定运行至关重要。针对执行器增益故障及系统所具有的强非线性,提出一种新的基于间歇过程的T-S模糊模型的复合迭代学习容错控制方法。首先根据间歇过程的非线性模型,利用扇区非线性方法建立其T-S模糊故障模型,再利用间歇过程的二维特性与重复特性,在2D系统理论框架内,设计2D复合ILC容错控制器,进而构建此T-S模糊模型的等价二维Rosser模型,接着利用Lyapunov方法给出系统稳定充分条件并求解控制器增益。针对强非线性的连续搅拌釜进行仿真,结果表明所提出方法具有可行性与有效性。     

非线性Hammerstein模型预测控制策略及其在pH中和过程中的应用

所有实际工业过程都包含一定程度的非线性,如pH中和过程由于其本身的强非线性是工业过程控制中具有挑战性的难题,但至今为止仍缺乏有效的非线性控制方法。将基于差分方程模型的模型预测控制策略(model predictive control,MPC)推广到包含一个静态非线性多项式函数和一个线性差分方程动态环节的非线性Hammerstein系统,详细描述了基于静态非线性多项式函数的最优控制作用求解方法,提出了一套新的非线性Hammerstein MPC 控制策略(nonlinear Hammerstein predictive control,NLHPC)。pH中和过程控制仿真和控制实验表明,NLHPC的控制结果好于工业上常用的非线性 PID(nonlinear PID,NL-PID)控制器。     

化学反应器的神经元自适应观测和非线性控制

提出了一种基于神经网络的自适应观测和非线性控制策略,证明了自适应观测器的收敛件和非线性控制系统的稳定性,将其用于连续搅拌釜式放热反应器的浓度控制。根据可在线测量的反应温度,在线估计不可在线测量的反应物浓度和辨识Arrhenius指前因子,并利用重构的状态信息设计出带约束的非线性控制策略。仿真结果表明,观测器/控制器的组合提供了满意的闭环特性,证实了本文方法的有效性。     

SIMULATION AND EXPERIMENTAL IMPLEMENTATION OF A NEURAL-NETWORK-BASED INTERNAL-MODEL CONTROL STRATEGY ON A REACTOR SYSTEM

The use of inverse-model-based control strategy for nonlinear system has been increasing lately. However it is hampered by the difficulty in obtaining the inverse of nonlinear systems analytically. Since neural networks has the ability to model such inverses, it has become a viable alternative. Although many simulations using neural network inverse models For controls have been reported recently, no actual experimental application has been reported on a reactor system. In this paper we describe a novel experimental application of a neural network inverse-model based control method on a partially simulated pilot plant reactor, exhibiting steady state parametric sensitivity and designed to test the use of such nonlinear algorithms. The implementation involved the control of the reactor temperature under set point changes, disturbance rejection and set point regulation with plant/model mismatches. Simulation tests on the model of the system were also carried out to enable better design of the neural network models and to highlight the differences between simulation and actual online results. The online implementation results obtained were sufficient to demonstrate the capability of applying these neural-network-based control methods in real systems.     

Arma neuron networks for modeling nonlinear dynamical systems

A new neuronal structure, the ARMA neuron, is proposed here. These new neurons are designed for modeling nonlinear dynamics often encountered in chemical engineering processes. They are an extension of standard neurons which are used for static process modeling. These new neurons contain internal input/output dynamic structure and can model dynamic non-linearities in a flexible manner. A nonlinear output transformation is used here as opposed to a linear version used earlier (Krishnapura and Jutan, 1993). New algorithms for training networks comprised of the new ARMA neurons are developed using the backpropagation approach. The ARMA neurons are used to model both simulated and experimental nonlinear dynamic processes, including an industrial fluidized bed reactor.     

基于ARX-NNPLS模型的优化策略及在聚合物牌号切换过程中的应用(英文)

Since it is often difficult to build differential algebraic equations (DAEs) for chemical processes, a new data-based modeling approach is proposed using ARX (AutoRegressive with eXogenous inputs) combined with neural network under partial least squares framework (ARX-NNPLS), in which less specific knowledge of the process is required but the input and output data. To represent the dynamic and nonlinear behavior of the process, the ARX combined with neural network is used in the partial least squares (PLS) inner model between input and output latent variables. In the proposed dynamic optimization strategy based on the ARX-NNPLS model, neither parameterization nor iterative solving process for DAEs is needed as the ARX-NNPLS model gives a proper representation for the dynamic behavior of the process, and the computing time is greatly reduced compared to conventional control vector parameterization method. To demonstrate the ARX-NNPLS model based optimization strategy, the polyethylene grade transition in gas phase fluidized-bed reactor is taken into account. The optimization results show that the final optimal trajectory of quality index determined by the new approach moves faster to the target values and the computing time is much less.     

基于自组织模糊神经网络的污水处理过程溶解氧控制

针对活性污泥污水处理过程溶解氧浓度控制问题,提出一种基于自组织模糊神经网络（SOFNN）的控制方法。该神经网络控制器依据激活强度和互信息理论在线动态增长和修剪规则层神经元,以满足实际工况的动态变化。同时,采用梯度下降算法在线优化隶属函数层中心、宽度和输出权值,以保证SOFNN的收敛性。进一步通过Lyapunov稳定性理论对SOFNN学习率进行分析,给出控制系统稳定性证明。最后在国际基准仿真平台BSM1上进行实验验证。实验结果显示,与PID、模糊逻辑控制（FLC）和固定结构FNN等控制策略相比,SOFNN在跟踪精度、控制平稳性和自适应能力上更具有优势。     

Multivariable Nonlinear Proportional-Integral-Derivative Decoupling Control Based on Recurrent Neural Networks

A nonlinear proportional-integral-derivative (PID) controller is constructed based on recurrent neural networks. In the control process of nonlinear multivariable systems, several nonlinear PID controllers have been adopted in parallel. Under the decoupling cost function, a decoupling control strategy is proposed. Then the stability condition of the controller is presented based on the Lyapunov theory. Simulation examples are given to show effectiveness of the proposed decoupling control.