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Chapter 4. Explicit/Multi-Parametric MPC Control of PSA Systems 100 99.98 99.96 99.94 Output trajectory mp−MPC PID2 PID1 99.92 −5 0 5 10 15 20 25 30 35 40 45 Number of cycles Input trajectory 90 80 70 60 50 −5 0 5 10 15 20 25 30 35 40 45 Number of cycles mp−MPC PID1 PID2 Figure 4.17: Closed loop comparison of mp-MPC and two different PID controllers for the 54 % impulse disturbance scenario 4.17. A further re-tuning of PID1 controller, represented by PID2 controller keeps the adsorption time above the 55 seconds limit. However, the mp-MPC controller provides much superior performance as it achieves almost the same controller re- sponse time at much lower values of mean control effort. Figure 4.17 further shows that the adsorption time trajectory during the response time is far away from the defined constraints, without requiring any re-tuning efforts. 4.6 Conclusions This work presents a detailed study on an important but relatively unexplored area of PSA control, following a rigorous and comprehensive mp-MPC frame- 97 Adsorption time, sec Purity, %PDF Image | Operation and Control of Pressure Swing Adsorption Systems
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