A linear model predictive control algorithm for nonlinear large‐scale distributed parameter systems

This work provides a framework for linear model predictive control (MPC) of nonlinear distributed parameter systems (DPS), allowing the direct utilization of existing large‐scale simulators. The proposed scheme is adaptive and it is based on successive local linearizations of the nonlinear model of the system at hand around the current state and on the use of the resulting local linear models for MPC. At every timestep, not only the future control moves are updated but also the model of the system itself. A model reduction technique is integrated within this methodology to reduce the computational cost of this procedure. It follows the equation‐free approach (see Kevrekidis et al., Commun Math Sci. 2003;1:715–762; Theodoropoulos et al., Proc Natl Acad Sci USA. 2000;97:9840‐9843), according to which the equations of the model (and consequently of the simulator) need not be given explicitly to the controller. The latter forms a “wrapper” around an existing simulator using it in an input/output fashion. This algorithm is designed for dissipative DPS, dissipativity being a prerequisite for model reduction. The equation‐free approach renders the proposed algorithm appropriate for multiscale systems and enables it to handle large‐scale systems. © 2011 American Institute of Chemical Engineers AIChE J, 2012     

Extended adaptive predictive controller with robust filter to enhance blood glucose regulation in type I diabetic subjects

In this paper, an improved adaptive predictive control with robust filter is developed to be applied in an artificial pancreas. Several problems inherent to endocrine systems for diabetic persons have to be tackled such as nonlinearities, long time delays or daily variations of parameters. Three Finite Impulse Response models for insulin input and the same for meal intake (perturbations) corresponding to normal, hyper-hypoglycaemia levels to implement three zones control are taken into account. The glycaemia reference trajectory is shaped from a healthy person response. A variable weighting factor in the cost function is included to prevent dangerous glycaemia excursions out of the allowed limits. Additionally, a noisy blood glucose subcutaneous sensor model is used. This control strategy is tested on 30 virtual subjects from the UVa – Padova Simulator. Simultaneous meals and physiological disturbances are taken into account and the main conclusions are drawn from Control Variability Grid Analysis.     

Composite fast‐slow MPC design for nonlinear singularly perturbed systems

The design of a composite control system for nonlinear singularly perturbed systems using model predictive control (MPC) is described. Specifically, a composite control system comprised of a “fast” MPC acting to regulate the fast dynamics and a “slow” MPC acting to regulate the slow dynamics is designed. The composite MPC system uses multirate sampling of the plant state measurements, i.e., fast sampling of the fast state variables is used in the fast MPC and slow‐sampling of the slow state variables is used in the slow MPC. Using singular perturbation theory, the stability and optimality of the closed‐loop nonlinear singularly perturbed system are analyzed. A chemical process example which exhibits two‐time‐scale behavior is used to demonstrate the structure and implementation of the proposed fast–slow MPC architecture in a practical setting. © 2012 American Institute of Chemical Engineers AIChE J, 58: 1802–1811, 2012     

Influence of learning effects on the results of the cap‐sorting test Roth 28‐hue (E) desaturated: Influence of learning effects on colour‐arrangement tests

The results obtained in colour vision tests can be influenced by many factors. It is possible that a learning effect disguises the fact that an acquired colour vision disturbance has progressively either deteriorated or been successfully treated. Therefore, the primary object of this study was to examine whether a possible learning effect occurred if screening by the colour vision test Roth 28‐hue (E) desaturated was repeated several times, and if this learning effect was age dependent. Sixty‐five ocularly and generally healthy subjects participated in the study and were divided into two age groups: group A: 20–39 years, n = 35; group B: 40–59 years, n = 30. Besides their ophthalmological status (visual acuity, refraction, intraocular pressure, cup/disk ratio, central fundus), the cap‐sorting test Roth 28‐hue (E) desaturated was performed under standardized test conditions. The measurements were repeated after 5 ± 1.72 days (T1), 15 ± 3.53 days (T2), 32 ± 6.97 days (T3), and 189 ± 16.85 days (T4). The ophthalmological parameters of all subjects were inconspicuous. The individual evaluation of the error scores in the cap‐sorting test Roth 28‐hue (E) desaturated showed large‐scale variations. For both age groups there was no statistically significant difference between the right and left eye at any time. The mean values of the younger group remained relatively constant after the first measurement. This age group showed a quick, clearly visible learning effect that persisted over the whole test period. With regard to the older age group the average values deteriorated, remained solid for one month increasing again after 6 months. The results showed an age‐related learning effect. Therefore, it is important to repeat the colour vision test within 5 days for the age group 20–39 years. This second test result will then serve as a stable basis for further comparative examinations within a period of 6 months. The subjects of the age group 40–59 years ought to repeat a first colour vision test after 5 and again after 15 days. The result of the second repetition will then offer stable basic values for subsequent tests. © 2006 Wiley Periodicals, Inc. Col Res Appl, 32, 16–21, 2007; Published online in Wiley InterScience (www.interscience.wiley.com). DOI 10.1002/col.20282     

Dissipativity‐based distributed model predictive control with low rate communication

Distributed or networked model predictive control (MPC) can provide a computationally efficient approach that achieves high levels of performance for plantwide control, where the interactions between processes can be determined from the information exchanged among controllers. Distributed controllers may exchange information at a lower rate to reduce the communication burden. A dissipativity‐based analysis is developed to study the effects of low communication rates on plantwide control performance and stability. A distributed dissipativity‐based MPC design approach is also developed to guarantee the plantwide stability and minimum plantwide performance with low communication rates. These results are illustrated by a case study of a reactor‐distillation column network. © 2015 American Institute of Chemical Engineers AIChE J, 61: 3288–3303, 2015     

Electropreparation of (±)‐10‐camphorsulfonate‐doped poly(o‐phenylenediamine) in acetonitrile and its use in determination of glucose

Poly(o‐phenylenediamine) (PoPD) film has been electrochemically prepared on Pt electrode in an acetonitrile–water medium containing o‐phenylenediamine (oPD) monomer and (±)‐10‐camphorsulfonic acid (HCSA) by using the cyclic voltammetry (CV). The PoPD film (PoPD–CSA) has been characterized by FTIR, CV, EIS, FESEM, and conductivity measurement. The glucose biosensor (Pt/PoPD–CSA/GOx) has been prepared from the PoPD coated electrode by immobilizing glucose oxidase (GOx) enzyme using glutaraldehyde. The biosensor shows a low detection limit and wide linear working range, a good reusability, long‐term stability, and anti‐interference ability. The Pt/PoPD–CSA/GOx has possesses higher sensitivity (2.05 μA/mmol L^?1) and affinity to glucose due to the use of CSA ion as dopant. The linear concentration ranges of Pt/PoPD–CSA/GOx have been found to be 9.6 × 10^?3 to 8.2 mmol L^?1 from calibration curve and 4.6 × 10^?2 to 100 mmol L^?1 from the relationship between the (1/glucose concentration) and (1/current difference). © 2013 Wiley Periodicals, Inc. J. Appl. Polym. Sci. 2014 , 131, 39864.     

Economic model predictive control with time‐varying objective function for nonlinear process systems

Economic model predictive control (EMPC) is a control scheme that combines real‐time dynamic economic process optimization with the feedback properties of model predictive control (MPC) by replacing the quadratic cost function with a general economic cost function. Almost all the recent work on EMPC involves cost functions that are time invariant (do not explicitly account for time‐varying process economics). In the present work, we focus on the development of a Lyapunov‐based EMPC (LEMPC) scheme that is formulated with an explicitly time‐varying economic cost function. First, the formulation of the proposed two‐mode LEMPC is given. Second, closed‐loop stability is proven through a theoretical treatment. Last, we demonstrate through extensive closed‐loop simulations of a chemical process that the proposed LEMPC can achieve stability with time‐varying economic cost as well as improve economic performance of the process over a conventional MPC scheme. © 2013 American Institute of Chemical Engineers AIChE J 60: 507–519, 2014     

Proactive fault‐tolerant model predictive control

Fault‐tolerant control methods have been extensively researched over the last 10 years in the context of chemical process control applications, and provide a natural framework for integrating process monitoring and control aspects in a way that not only fault detection and isolation but also control system reconfiguration is achieved in the event of a process or actuator fault. But almost all the efforts are focused on the reactive fault‐tolerant control. As another way for fault‐tolerant control, proactive fault‐tolerant control has been a popular topic in the communication systems and aerospace control systems communities for the last 10 years. At this point, no work has been done on proactive fault‐tolerant control within the context of chemical process control. Motivated by this, a proactive fault‐tolerant Lyapunov‐based model predictive controller (LMPC) that can effectively deal with an incipient control actuator fault is proposed. This approach to proactive fault‐tolerant control combines the unique stability and robustness properties of LMPC as well as explicitly accounting for incipient control actuator faults in the formulation of the MPC. Our theoretical results are applied to a chemical process example, and different scenaria were simulated to demonstrate that the proposed proactive fault‐tolerant model predictive control method can achieve practical stability and efficiently deal with a control actuator fault. © 2013 American Institute of Chemical Engineers AIChE J, 59: 2810–2820, 2013     

Lyapunov‐based MPC with robust moving horizon estimation and its triggered implementation

In this work, we consider moving horizon state estimation (MHE)‐based model predictive control (MPC) of nonlinear systems. Specifically, we consider the Lyapunov‐based MPC (LMPC) developed in (Mhaskar et al., IEEE Trans Autom Control. 2005;50:1670–1680; Syst Control Lett. 2006;55:650–659) and the robust MHE (RMHE) developed in (Liu J, Chem Eng Sci. 2013;93:376–386). First, we focus on the case that the RMHE and the LMPC are evaluated every sampling time. An estimate of the stability region of the output control system is first established; and then sufficient conditions under which the closed‐loop system is guaranteed to be stable are derived. Subsequently, we propose a triggered implementation strategy for the RMHE‐based LMPC to reduce its computational load. The triggering condition is designed based on measurements of the output and its time derivatives. To ensure the closed‐loop stability, the formulations of the RMHE and the LMPC are also modified accordingly to account for the potential open‐loop operation. A chemical process is used to illustrate the proposed approaches. © 2013 American Institute of Chemical Engineers AIChE J, 59: 4273–4286, 2013     

Dynamic real‐time optimization with closed‐loop prediction

Process plants are operating in an increasingly global and dynamic environment, motivating the development of dynamic real‐time optimization (DRTO) systems to account for transient behavior in the determination of economically optimal operating policies. This article considers optimization of closed‐loop response dynamics at the DRTO level in a two‐layer architecture, with constrained model predictive control (MPC) applied at the regulatory control level. A simultaneous solution approach is applied to the multilevel DRTO optimization problem, in which the convex MPC optimization subproblems are replaced by their necessary and sufficient Karush–Kuhn–Tucker optimality conditions, resulting in a single‐level mathematical program with complementarity constraints. The performance of the closed‐loop DRTO strategy is compared to that of the open‐loop prediction counterpart through a multi‐part case study that considers linear dynamic systems with different characteristics. The performance of the proposed strategy is further demonstrated through application to a nonlinear polymerization reactor grade transition problem. © 2017 American Institute of Chemical Engineers AIChE J, 63: 3896–3911, 2017     

Influence of the comonomers (styrene and methyl acrylate) on the rate of photocrosslinking of 4‐{[‐3‐(4‐hydroxybenzylidene)‐2‐oxocyclohexylidene]methyl}‐ phenyl acrylate

[2,6‐Bis(4‐hydroxybenzylidene)cyclohexanone] (HBC) was prepared by reacting cyclohexanone and p‐hydroxybenzaldehyde in the presence of acid catalyst. Acrylated derivative of HBC, 4‐{[‐3‐(4‐hydroxybenzylidene)‐2‐oxocyclohexylidene]methyl}phenyl acrylate (HBA), was prepared by reacting HBC with acryloyl chloride in the presence of triethylamine. Copolymers of HBA with styrene (S) and methyl acrylate (MA) of different feed compositions were carried out by solution polymerization technique by using benzoyl peroxide (BPO) under nitrogen atmosphere. All monomers and polymers were characterized by using IR and NMR techniques. Reactivity ratios of the monomers present in the polymer chain were evolved by using Finnman–Ross (FR), Kelen–Tudos (KT), and extended Kelen–Tudos (ex‐KT) methods. Average values of reactivity were achieved by the following three methods: r₁ (S) = 2.36 ± 0.45 and r₂ (HBA) = 0.8 ± 0.31 for poly(S‐co‐HBA); r₁ = 1.62 ± 0.06 (MA); and r₂ = 0.12 ± 0.07 (HBA) for poly(MA‐co‐HBA). The photocrosslinking property of the polymers was done by using UV absorption spectroscopic technique. The rate of photocrosslinking was enhanced compared to that of the homopolymers, when the HBA was copolymerized with S and MA. Thermal stability and molecular weights (M_w and M_n) were determined for the polymer samples. © 2004 Wiley Periodicals, Inc. J Appl Polym Sci 92: 2494–2503, 2004     

Integration of scheduling and control for batch processes using multi‐parametric model predictive control

Integration of scheduling and control results in Mixed Integer Nonlinear Programming (MINLP) which is computationally expensive. The online implementation of integrated scheduling and control requires repetitively solving the resulting MINLP at each time interval. (Zhuge and Ierapetritou, Ind Eng Chem Res. 2012;51:8550–8565) To address the online computation burden, we incorporare multi‐parametric Model Predictive Control (mp‐MPC) in the integration of scheduling and control. The proposed methodology involves the development of an integrated model using continuous‐time event‐point formulation for the scheduling level and the derived constraints from explicit MPC for the control level. Results of case studies of batch processes prove that the proposed approach guarantees efficient computation and thus facilitates the online implementation. © 2014 American Institute of Chemical Engineers AIChE J, 60: 3169–3183, 2014     

Data‐driven model predictive quality control of batch processes

The problem of driving a batch process to a specified product quality using data‐driven model predictive control (MPC) is described. To address the problem of unavailability of online quality measurements, an inferential quality model, which relates the process conditions over the entire batch duration to the final quality, is required. The accuracy of this type of quality model, however, is sensitive to the prediction of the future batch behavior until batch termination. In this work, we handle this “missing data” problem by integrating a previously developed data‐driven modeling methodology, which combines multiple local linear models with an appropriate weighting function to describe nonlinearities, with the inferential model in a MPC framework. The key feature of this approach is that the causality and nonlinear relationships between the future inputs and outputs are accounted for in predicting the final quality and computing the manipulated input trajectory. The efficacy of the proposed predictive control design is illustrated via closed‐loop simulations of a nylon‐6,6 batch polymerization process with limited measurements. © 2013 American Institute of Chemical Engineers AIChE J, 59: 2852–2861, 2013     

Safe‐steering of batch process systems

This work considers the problem of controlling batch processes to achieve a desired final product quality subject to input constraints and faults in the control actuators. Specifically, faults are considered that cannot be handled via robust control approaches, and preclude the ability to reach the desired end‐point, necessitating fault‐rectification. A safe‐steering framework is developed to address the problem of determining how to utilize the functioning inputs during fault rectification to ensure that after fault‐rectification, the desired product properties can be reached upon batch termination. To this end, first a novel reverse‐time reachability region (we define the reverse time reachability region as the set of states from where the desired end point can be reached by batch termination) based MPC is formulated that reduces online computations, as well as provides a useful tool for handling faults. Next, a safe‐steering framework is developed that utilizes the reverse‐time reachability region based MPC in steering the state trajectory during fault rectification to enable (upon fault recovery) the achieving of the desired end point properties by batch termination. The proposed controller and safe‐steering framework are illustrated using a fed‐batch process example. © 2009 American Institute of Chemical Engineers AIChE J, 2009     

Robust model predictive control and fault handling of batch processes

This work considers the control of batch processes subject to input constraints and model uncertainty with the objective of achieving a desired product quality. First, a computationally efficient nonlinear robust Model Predictive Control (MPC) is designed. The robust MPC scheme uses robust reverse‐time reachability regions (RTRRs), which we define as the set of process states that can be driven to a desired neighborhood of the target end‐point subject to input constraints and model uncertainty. A multilevel optimization‐based algorithm to generate robust RTRRs for specified uncertainty bounds is presented. We then consider the problem of uncertain batch processes subject to finite duration faults in the control actuators. Using the robust RTRR‐based MPC as the main tool, a robust safe‐steering framework is developed to address the problem of how to operate the functioning inputs during the fault repair period to ensure that the desired end‐point neighborhood can be reached upon recovery of the full control effort. The applicability of the proposed robust RTRR‐based controller and safe‐steering framework subject to limited availability of measurements and sensor noise are illustrated using a fed‐batch reactor system. © 2010 American Institute of Chemical Engineers AIChE J, 2011     

Electropolymerization of a new 4‐(2,5‐Di‐2‐thiophen‐2‐yl‐pyrrol‐1‐yl)‐tetra substituted nickel phthalocyanine derivative

A new tetrakis 4‐(2,5‐di‐2‐thiophen‐2‐yl‐pyrrol‐1‐yl) substituted nickel phthalocyanine (NiPc‐SNS) was synthesized and characterized by elemental analysis, Fourier Transform Infrared (FT‐IR), and UV–vis spectroscopies. The electrochemical polymerization of this newly synthesized NiPc‐SNS was performed in dichloromethane (DCM)/tetrabutylammonium perchlorate (TBAP) solvent/electrolyte couple. An insoluble film was deposited on the electrode surface, both during repetitive cycling and constant potential electrolysis at 0.85 V. Resulting polymer film, P(NiPc‐SNS), was characterized utilizing UV–vis and FT‐IR spectroscopic techniques and its electrochemical behavior was investigated via cyclic voltammetry (CV). Spectroelectrochemical behavior of the polymer film on indium tin oxide (ITO) working electrode was investigated by recording the electronic absorption spectra, in situ, in monomer‐free electrolytic solution at different potentials and it is found that the P(NiPc‐SNS) film can be reversibly cycled between 0.0 and 1.1 V and exhibits electrochromic behavior; dark olive green in the neutral and dark blue in the oxidized states with a switching time of 1.98 s. Furthermore, the band gap of P(NiPc‐SNS) was calculated as 2.27 eV from the onset of π–π* transition of the conjugated backbone. © 2011 Wiley Periodicals, Inc. J Appl Polym Sci, 2011     

Preparation and rheological behaviors of 6‐carboxy‐chitosan

The hydroxymethyl groups of 2‐amino‐2‐deoxy‐D ‐glucose units in chitosan were selectively oxidized to carboxyl groups with NO₂ gas to form 6‐carboxy‐chitosan in aqueous 0.5 mol/L acetic acid. In optimal conditions, the 52.5% hydroxymethyl groups in chitosan could be converted into carboxyl groups. When the pH value of the solution is lower than 4.0 or more than 5.4, 6‐carboxy‐chitosan has common characteristics of a polycation or polyanion electrolyte, respectively, and when the pH value of the solution is 4.0—5.4, 6‐carboxy‐chitosan has common characteristics of an amphoteric polyelectrolyte. 6‐Carboxy‐chitosan has same macromolecular backbones as chitosan, and its isoelectric point (pI) value is 4.9. © 2004 Wiley Periodicals, Inc. J Appl Polym Sci 94: 1126–1130, 2004     

Drug‐delivery system based on core–shell‐type nanoparticles composed of poly(γ‐benzyl‐L‐glutamate) and poly(ethylene oxide)

A block copolymer based on poly(γ‐benzyl‐L ‐glutamate) (PBLG) as the hydrophobic part and poly(ethylene oxide) (PEO) as the hydrophilic part was synthesized and characterized. PBLG/PEO/PBLG (GEG) block copolymer nanoparticles were prepared using the dialysis technique. Fluorescence spectroscopy measurement suggested that GEG block copolymers were associated in water to form polymeric micelles and the critical micelle concentration (CMC) value of the GEG‐50 block copolymer was 0.0084 g/L. Particle‐size distribution of the GEG‐50 block copolymer based on the number average was 34.9 ± 17.6 nm. Also, the particle size and drug‐loading contents of GEG nanoparticles were significantly changed with the initial solvent used. From transmission electron microscope (TEM) observations, the GEG polymeric micelle was a nice spherical shape and the sizes ranged from approximately 20–60 nm in diameter. Results from assessing the drug‐loading contents against the initial solvent showed that the use of tetrahydrofuran (THF) or 1,4‐dioxane as the initial solvent resulted in higher drug‐loading contents than those of other solvents. In the drug‐release studies, the higher the molecular weight of the polymer and drug‐loading contents, the slower the drug release. Also, the initial solvent used was significantly affected not only in the drug‐loading contents but also in the drug‐release kinetics. © 2000 John Wiley & Sons, Inc. J Appl Polym Sci 75: 1115–1126, 2000     

Facile synthesis of novel optically active poly(amide‐imide)s containing N,N′‐(pyromellitoyl)‐bis‐l‐phenylalanine diacid chloride and 5,5‐disubstituted hydantoin derivatives under microwave irradiation

Pyromellitic dianhydride (1,2,4,5‐benzenetetracarboxylic acid 1,2,4,5‐dianhydide) (1) was reacted with L‐phenylalanine (2) in a mixture of acetic acid and pyridine (3 : 2) at room temperature, then was refluxed at 90–100°C and N,N′‐(Pyromellitoyl)‐bis‐L ‐phenylalanine diacid (3) was obtained in quantitative yield. The imide‐acid (3) was converted to N,N′‐(Pyromellitoyl)‐bis‐L ‐phenylalanine diacid chloride (4) by reaction with thionyl chloride. Rapid and highly efficient synthesis of poly(amide‐imide)s (6a–f) was achieved under microwave irradiation by using a domestic microwave oven from the polycondensation reactions of N,N′‐(Pyromellitoyl)‐bis‐L ‐phenylalanine diacid chloride (4) with six different derivatives of 5,5‐disubstituted hydantoin compounds (5a–f) in the presence of a small amount of a polar organic medium that acts as a primary microwave absorber. Suitable organic media was o‐cresol. The polycondensation proceeded rapidly, compared with the conventional melt polycondensation and solution polycondensation, and was almost completed within 10 min, giving a series of poly(amide‐imide)s with inherent viscosities about 0.28–0.44 dL/g. The resulting poly(amide‐imide)s were obtained in high yield and are optically active and thermally stable. All of the above compounds were fully characterized by means of FTIR spectroscopy, elemental analyses, inherent viscosity (η_inh), solubility test and specific rotation. Thermal properties of the poly(amide‐imide)s were investigated using thermal gravimetric analysis (TGA). © 2003 Wiley Periodicals, Inc. J Appl Polym Sci 91: 516–524, 2004     

Leachability of degradation products from hard chairside reline resins in artificial saliva: Effect of water‐bath post‐polymerization treatment

The effect of a post‐polymerization treatment on the leaching of methacrylic acid (MA) and benzoic acid (BA) from the reline resins [Kooliner (K), New Truliner (N), Ufi Gel hard (U), and Tokuso Rebase Fast (T)] was evaluated. Specimens of each material were divided into two groups: Group C (control) – left untreated; Group WB (water‐bath) – immersion in water at 55 ± 1°C for 10 min. Specimens were placed in artificial saliva at 37 ± 1°C and, after 1‐, 3‐, 5‐, 24‐h and 3‐, 7‐, 14‐, and 30‐day intervals, aliquots were removed and analyzed using high performance liquid chromatography. Data were analyzed by using Wilcoxon, Mann–Whitney or Kruskal–Wallis tests (α = 0.05). At 1 h, the concentration of MA released from U control specimens was higher than those of the other ones, and decreased after 3 h. WB specimens released lower amounts of MA than control specimens only for material U, at the 1‐ and 3‐h periods. For all control specimens, concentrations of leached BA progressively decreased within 5 h and from 24 h to the end. WB specimens released significantly lower amounts of BA than did the control groups. The highest concentration of MA was leached from control specimens of Ufi Gel hard. Water‐bath post‐polymerization treatment caused a significant reduction in elution of BA. © 2011 Wiley Periodicals, Inc. J Appl Polym Sci, 2011