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Identification and control of fractional and integer order systems Open Access


Other title
fractional order controllers
Integer order systems
Separation cell
fractional order systems
Froth heater control
Model predictive control
Type of item
Degree grantor
University of Alberta
Author or creator
Narang, Anuj
Supervisor and department
Chen, Tongwen (Electrical and Computer Engineering)
Shah, Sirish L. (Chemical and Materials Engineering)
Examining committee member and department
Ben-Zvi, Amos (Chemical and Materials Engineering, Adjunct faculty)
Prasad, Vinay (Chemical and Materials Engineering)
Bergh, Luis G. (Chemical Engineering Department, Santa Maria University, Chile)
Department of Chemical and Materials Engineering
Process Control
Date accepted
Graduation date
Doctor of Philosophy
Degree level
The main focus of this thesis is on developing parsimonious models using measured process data and subsequent use of these models in the design of controllers for chemical engineering processes, in particular, for processes with large dead times. The application case studies presented and discussed in this thesis include diverse examples such as a classical heat transfer wall problem, a continuous stirred tank heater with transportation delays, an industrial scaled primary separation cell, and froth heaters. Two different types of processes are discussed in this thesis: 1) processes that can be described by fractional order transfer function models and 2) industrial processes that are modeled using conventional rational (integer) order models, as is the normal practice in industry. For fractional order systems, this thesis proposes a nested loop optimization method where model parameters including time delay are estimated iteratively in the inner loop and the fractional order model is estimated in the non-linear outer loop. The proposed method is applied in simulation on distributed parameter systems such as a classical heat transfer wall problem and on identification data obtained from laboratory experiments of a continuous stirred tank heater (CSTH) with transportation delays and industrial froth heater process. A fractional order PI controller tuning method using Bode's ideal transfer function as the reference system is also developed for fractional and integer order systems. The proposed tuning method is evaluated by simulation on fractional and integer order systems and experimental application on a computer-interfaced pilot scale CSTH process. Application examples, related to conventional (integer order) models, discussed in the thesis involve two industrial case studies in the oil sands industry. The first of these is the regulation of the froth bitumen and middlings Interface level in a separation cell process which is part of the oil-sands extraction unit. Internal model control (IMC) and model predictive control (MPC) using linear models are designed, implemented and tested in real time on the industrial separation cell. These controllers yielded better performance over the existing control strategy which uses PID control. The second application is concerned with temperature control of the bitumen froth which is part of the froth treatment unit. Using the linear models obtained from the industrial data, a gain scheduling multivariable MPC is designed, and tested in simulations and compared with the current operation which uses a number of local PID controllers. Results presented in the thesis illustrate the first successful industrial implementation of an MPC controller on a separation cell in the oil sands extractions unit at Suncor Energy Inc. in Fort McMurray, Alberta. Overall, this thesis presents results on identification and model based control design case studies on fractional order systems, distributed parameter systems and two industrial oil sands processes.
Permission is hereby granted to the University of Alberta Libraries to reproduce single copies of this thesis and to lend or sell such copies for private, scholarly or scientific research purposes only. Where the thesis is converted to, or otherwise made available in digital form, the University of Alberta will advise potential users of the thesis of these terms. The author reserves all other publication and other rights in association with the copyright in the thesis and, except as herein before provided, neither the thesis nor any substantial portion thereof may be printed or otherwise reproduced in any material form whatsoever without the author's prior written permission.
Citation for previous publication
Narang, A., Shah, S. L., Chen, T., “Continuous-time model identification of fractional order models with time delays”, IET Control Theory Appl., Vol. 5 (7), pp. 900–912, 2011.Narang, A., Shah, S.L., Chen, T., “Tuning of fractional PI controllers for fractional order system models with and without time delays”. American Control Conference (ACC 2010), Baltimore, MD, USA, 2010.Narang, A., Shah, S. L., Chen T., “Continuous-time model identification of fractional order models with time delays”, IFAC symposium on System Identification (SYSID 2009), Saint Malo, France, 2009.

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