Comparing Model-based Control Strategies for a Quadruple Tank System: Decentralized PID, LMPC, and NMPC

Abstract

This paper compares the performance of a decentralized proportional-integral-derivative (PID) controller, a linear model predictive controller (LMPC), and a nonlinear model predictive controller (NMPC) applied to a quadruple tank system (QTS). We present experimental data from a physical setup of the QTS as well as simulation results. The QTS is modeled as a stochastic nonlinear continuous-discrete-time system, with parameters estimated using a maximum-likelihood prediction-error-method (ML-PEM). The NMPC applies the stochastic nonlinear continuous-discrete-time model, while the LMPC uses a linearized version of the same model. We tune the decentralized PID controller using the simple internal model control (SIMC) rules. The SIMC rules require transfer functions of the process, and we obtain these from the linearized model. We compare the controller performances based on systematic tests using both the physical setup and the simulated QTS. We measure the performance in terms of tracking errors and rate of movement in the manipulated variables. The LMPC and the NMPC perform better than the decentralized PID control system for tracking pre-announced time-varying setpoints. For disturbance rejection, the MPCs perform only slightly better than the decentralized PID controller. The primary advantage of the MPCs is their ability to use the information of future setpoints. We demonstrate this by providing simulation results of the MPCs with and without such information. Finally, the NMPC achieves slightly improved tracking errors compared to the LMPC but at the expense of having a higher input rate of movement.