# US 9,910,410 B2 · Multi-input multi-output control system and methods of making thereof > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,910,410 B2 - Document ID: US9910410B2 - Status: Granted - Kind: B2 - Application number: 15/117,495 - Filed: 2015-02-06 - Published: 2016-12-01 - Granted: 2018-03-06 - Earliest claimed: 2014-02-11 - Assignees: Sabic Global Technologies B.V.; Saudi Basic Industries Corporation - Applicants: Saudi Basic Industries Corporation; Sabic Global Technologies B.V. - Inventors: Yousof Mustafa Ghazzawi - Web page: https://patentgrep.com/patent/US9910410B2 ## CPC - G05B 11/42: for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D. - G05B 11/32: with inputs from more than one sensing element; with outputs to more than one correcting element - B64U 2201/10: autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS] - B64U 2201/20: Remote controls - G05B 2219/13095: Pid regulator - G05B 2219/2637: Vehicle, car, auto, wheelchair - G05B 2219/34025: Polynomial analysis - G05B 2219/42017: Mimo controller with many inputs and outputs - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) - B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR ## Abstract The invention provides a multi-input multi-output (MIMO) control system comprising a controller adapted for receiving an input set of at least two control input parameters and a set of at least two control output parameters, said control system arranged for effecting a modified deadbeat control, in which said modified deadbeat control comprises a robust deadbeat control for an n-th order, linear time invariant (LTI) system based upon a series of cascade proportional integrating-differentiating (PID) controls, each PID control comprising a system transfer function having a nominator and a denominator, wherein for the nominator a constant gain (K) is selected for each PID control. The invention further provides a method for controlling a continuous process using this control system. ## Claims ### Claim 1 A method for controlling a continuous process, said method comprising: providing a control system comprising a controller adapted for receiving an input set of at least two control input parameters and producing a set of at least two control output parameters in response to the at least two control input parameters, said control system arranged for effecting a modified deadbeat control, in which said modified deadbeat control comprises a robust deadbeat control for an n-th order, linear time invariant (LTI) system based upon a series of cascade proportional integrating-differentiating (PID) controls, each PID control comprising a system transfer function having a nominator and a denominator, wherein for the nominator a constant gain (K) is selected for each PID control; providing a chemical processing assembly running a chemical process, said chemical process assembly comprising a series of actuators for setting a series of process conditions of said chemical process; determining during said chemical process a series of process output parameters and providing these output parameters to the control system; said control system determining a set of process input parameters resulting from said process output parameters; said control system providing said input parameters to said actuators during said chemical process for setting said process conditions. ### Claim 2 (depends on 1) The control system of claim 1, wherein the denominator is set functionally equal for each PID control. ### Claim 3 (depends on 1) The control system of claim 1, wherein for each PID control, the gain (K) is set functionally equal. ### Claim 4 (depends on 1) The control system of claim 1, wherein at least one PID control is provided for each input. ### Claim 5 (depends on 1) The control system of claim 1, wherein said control system comprises a continuous time base. ### Claim 6 (depends on 1) The control system of claim 1, wherein the system transfer functions of said PID controls are defined as q(s)/p(s), wherein q(s) and p(s) are polynomials, wherein q(s) is selected as a constant gain K, and p(s) is a polynomial with deadbeat parameters. ### Claim 7 (depends on 1) The control system of claim 1, wherein said denominator is a polynomial. ### Claim 8 (depends on 7) The control system of claim 7, wherein said denominator is a Hurwitz polynomial. ### Claim 9 (depends on 1) The control system of claim 1, wherein said control system comprises a disturbance d(t) which is a function of time, and a size of said disturbance is less or equal to a maximum disturbance dmax. ### Claim 10 (depends on 1) The control system of claim 1, wherein the same PID is used in each loop, minimizing the decoupling effect. ### Claim 11 (depends on 1) The method of claim 1, wherein said chemical process is a continuous polyolefin polymerization reaction. ### Claim 12 (depends on 1) The method of claim 1, wherein actuators are selected from the group consisting of a material feeder, a cooler, a heater, and one or more pressure valves. ### Claim 13 (depends on 1) The method of claim 1, wherein said process output parameters are selected from the group consisting of temperature, pressure, flow rate, viscosity, molecular weight, one or more UV, VIS or IR spectral values, branching index, and a combination thereof.