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Chapter 4. Explicit/Multi-Parametric MPC Control of PSA Systems Output Trajectory for Step Disturbance 100 100 Output Trajectory for Impulse Disturbance PID mp−MPC mp−MPC PID 99.99 99.98 99.97 99.96 99.95 0 20 40 60 80 99.99 99.98 99.97 Input Trajectory for Step Disturbance 86 90 Input Trajectory for Impulse Disturbance 99.96 0 10 20 30 40 PID mp−MPC 84 82 80 78 76 74 85 80 75 70 72 65 0 20 40 60 80 Number of Cycles 0 10 20 30 40 Number of Cycles PID mp−MPC Figure 4.16: Closed loop performance comparison of mp-MPC and PID controllers for the 10% step and 35 % impulse disturbance scenarios results shows that during the response time, maximum ∆u is around 12 seconds. This is a large number and such a big change in adsorption time, as discussed earlier, can cause damage to the solid adsorbent and should be avoided. On the other hand, the mp-MPC controller provides a much better and safer response to the disturbance as exhibited in Figure 4.16. 54 % impulse increase in PSA feedrate In this scenario, open loop re- sponse settles down in 10 PSA cycles, as shown in Table 4.9. PID1 controller re- sults corresponds to the case, when the tuning parameters are still left unchanged. This PID controller configuration takes least time to control the disturbance how- ever, it also violates hard constraints on the adsorption time, as shown in Figure 96 Adsorption Time, Sec Purity, %PDF Image | Operation and Control of Pressure Swing Adsorption Systems
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