Empirical Models of the Purdue Furnace

Exercise 20.12
 

Consider the PCM furnace module of Appendix H with the following variables (HC denotes hydrocarbon):
CVs: HC exit temperature THC and oxygen exit concentration cO2
MVs: fuel gas flow rate FFG and air flow rate FA
DV: HC flow rate FHC
Do the following, using the transfer function models given below:

  1. Design an MPC system using the following design parameters: Δt = 1 min, Q=diagonal [0.1, 1], R=diagonal [0.1, 0.1], P=20, and M=1.
  2. Repeat part (a) for the same design parameters except that now R=diagonal [0.5, 0.5].
  3. Simulate the two MPC controllers for a step change in the cO2 set point to 1.0143 mol/m3 at t=10 min.
  4. Repeat part (c) for a step change in FHC at t=10 min to 0.035 m3/min.
  5. Based on your results for parts (c) and (d), which MPC controller is superior? Justify your answer.