Abstract
In this paper the performance of Active Disturbance Rejection Control (ADRC) and Internal Model Control (IMC) controllers was experimentally compared. Both controllers are known for their robustness against disturbances and uncertainties. To compare the two controllers performance, they were implemented on a real time coupled tank system. Such a system exhibits nonlinearities and coupling effects, which makes it a good testing bed to perform the comparison on. The objective was to track a certain water level profile in the second tank of the coupled tank system, where the coupled tank is configured in a series connection. The results show that ADRC and IMC performance are very similar in the absence of disturbances. However, in the presence of disturbances, it has been shown that ADRC is superior to the IMC and is able to track the reference despite the step disturbance, contrary to the IMC.
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