Control Schemes for a Quadruple Tank Process
Keywords:quadruple tank process, gain scheduling control, linear parameter varying control, input-output feedback linearization control
This paper deals with the control of a quadruple tank process. A gain scheduling controller, a linear parameter varying controller and an input-output feedback linearization controller are proposed for the quadruple tank process. The derivation of the three control schemes is presented in details. Moreover, the proposed control schemes are implemented using an experimental setup. The experimental results indicate that the developed control schemes work well and are able to regulate the output of the process to its desired value. Additionally, the implementation results demonstrate that the input-output feedback linearization controller gave the best performance.
K.H. Johansson, "The quadruple-tank process: a multivariable laboratory process with an adjustable zero," IEEE Trans. Control Syst. Technol., vol. 8, pp. 456-465, 2008. http://dx.doi.org/10.1109/87.845876
B. Moaveni, A. Khaki-Sedigh, "Input-output pairing for nonlinear multivariable systems," J. Appl. Sci., vol. 22, pp. 3492-3498, 2007.
F. Garelli, R.J. Mantz, H. De Battista, "Limiting interactions in decentralized control of MIMO systems," J. Process Control, vol. 16, pp. 473-483, 2006. http://dx.doi.org/10.1016/j.jprocont.2005.09.001
K.J. Astrom, K.H. Johansson, Q.G.Wang, "Design of decoupled PI controllers for two-by-two systems," IEE Proc. Control Theory Appl., vol. 149, pp. 74-81, 2002. http://dx.doi.org/10.1049/ip-cta:20020087
E.P. Gatzke, E.S. Meadows, C. Wang, F.J. Doyle III, "Model based control of a four-tank system," Comput. Chem. Eng., vol. 24, pp. 1503-1509, 2000. http://dx.doi.org/10.1016/S0098-1354(00)00555-X
M. Mercangoz, F.J. Doyle III, "Distributed model predictive control of an experimental fourtank system," J. Process Control, vol. 17, pp. 297-308, 2007. http://dx.doi.org/10.1016/j.jprocont.2006.11.003
D. Henriksson, A. Cervin, J. Akesson, K. Arzen, "On dynamic real-time scheduling of model predictive controllers," 41st IEEE Conference on Decision and Control, Las Vegas, pp. 1325- 1330, 2002.
S.M. Mahdi Alavi, A. Khaki-Sedigh, B. Labibi, M.J. Hayes, "Improved multivariable quantitative feedback design for tracking error specifications," IET Control Theory Appl., vol. 1, pp. 1046-1053, 2007. http://dx.doi.org/10.1049/iet-cta:20060378
R. Vadigepalli, E.P. Gatzke, F. Doyle III, "Robust control of a multivariable experimental four-tank system," Ind. Eng. Chem. Res., vol. 40, pp. 1916-1927, 2001. http://dx.doi.org/10.1021/ie000381p
R. Findeisen, F. Allgower, L.T. Biegler, Assessment and Future Directions of Nonlinear Model Predictive Control, Springer, Berlin, 2007. http://dx.doi.org/10.1007/978-3-540-72699-9
N. Barhoumi, S. HadjSaid, F. M'sahli, "Constrained nonlinear model predictive control of hybrid dynamic systems," J. Auto. Syst. Eng., vol. 3, pp. 46-56, 2009.
P.P. Biswasa, R. Srivastavaa, S. Raya, A.N. Samanta, "Sliding mode control of quadruple tank process," Mechatronics, vol. 19, pp. 548-561, 2009. http://dx.doi.org/10.1016/j.mechatronics.2009.01.001
B. Labibi, H.J. Marquez, T. Chen, "Decentralized robust output feedback control for control affine nonlinear interconnected systems," J. Process Control, vol. 19, pp. 865-878, 2009. http://dx.doi.org/10.1016/j.jprocont.2008.11.008
F.D. Bianchi, R.J. Mantz, C.F. Christiansen, "Multivariable PID control with set-point weighting via BMI optimisation," Automatica, vol. 44, pp. 472-478, 2008. http://dx.doi.org/10.1016/j.automatica.2007.05.021
W.J. Rugh, J.S. Shamma, "Research on gain scheduling," Automatica, vol. 36, pp. 1401- 1425, 2000. http://dx.doi.org/10.1016/S0005-1098(00)00058-3
R.A. Hyde, K. Glover, "The application of scheduled Hâˆž controllers to a VSTOL aircraft," IEEE Trans. Autom. Control, vol. 38, pp. 1021-1039, 1993. http://dx.doi.org/10.1109/9.231458
N. Aouf, D.G. Bates, I. Postlethwaite, B. Boulet, "Scheduling schemes for an integrated flight and propulsion control system," Control Eng. Pract., vol. 10, pp. 685-696, 2002. http://dx.doi.org/10.1016/S0967-0661(02)00028-X
J.S. Shamma, M. Athans, "Guaranteed properties of gain scheduled control for linear parameter varying plants," Automatica, vol. 3, pp. 559-564, 1991. http://dx.doi.org/10.1016/0005-1098(91)90116-J
P. Apkarian, P. Gahinet, "A convex characterization of gain-scheduled Hâˆž controllers," IEEE Trans. Autom. Control, vol. 5, pp. 853-864, 1995. http://dx.doi.org/10.1109/9.384219
M. Chilali, P. Gahinet, "Hâˆž design with pole placement constraints: an LMI approach," IEEE Trans. Autom. Control, vol. 41, pp. 358-367, 1996. http://dx.doi.org/10.1109/9.486637
P. Apkarian, H.D. Tuan, "Parameterized LMIs in control theory," SIAMJ. Control Optim., vol. 4, pp. 1241-1264, 2000. http://dx.doi.org/10.1137/S036301299732612X
H.K. Khalil, Nonlinear Systems, Prentice-Hall, New Jersey, 2002.
J.J.E. Slotine, W. Li, Applied Nonlinear Control, Prentice-Hall, New Jersey, 1991.
J. Apkarian, Coupled Water Tank Experiments Manual, Quanser Consulting Inc., Canada, 1999.
P. Gahinet, A. Nemirovski, A. Laub, M. Chilali, LMI Control Toolbox User's Guide, The MathWorks Inc., Natick, MA, 1995.
G.E. Forsythe, M.A. Malcolm, C.B. Moler, Computer Methods for Mathematical Computations, Prentice-Hall, New Jersey, 1977.
ONLINE OPEN ACCES: Acces to full text of each article and each issue are allowed for free in respect of Attribution-NonCommercial 4.0 International (CC BY-NC 4.0.
You are free to:
-Share: copy and redistribute the material in any medium or format;
-Adapt: remix, transform, and build upon the material.
The licensor cannot revoke these freedoms as long as you follow the license terms.
DISCLAIMER: The author(s) of each article appearing in International Journal of Computers Communications & Control is/are solely responsible for the content thereof; the publication of an article shall not constitute or be deemed to constitute any representation by the Editors or Agora University Press that the data presented therein are original, correct or sufficient to support the conclusions reached or that the experiment design or methodology is adequate.