Abstract
This paper proposes a fresh state error feedback linearization control method with disturbance observer (DOB) and L2 gain for a quadruple-tank liquid-level system. Firstly, in terms of the highly nonlinear and strong coupling characteristics of the quadruple-tank system, a state error feedback linearization technique is employed to design the controller to achieve liquid-level position control and tracking control. Secondly, DOB is purposed to estimate uncertain exogenous disturbances and applied to compensation control. Moreover, an L2-gain disturbance attenuation technology is designed to resolve one class of disturbance problem by uncertain parameter perturbation existing in the quadruple-tank liquid-level system. Finally, compared with the classical proportion integration differentiation (PID) and sliding mode control (SMC) methods, the extensive experimental results validate that the proposed strategy has good position control, tracking control, and disturbance rejection performances.
Highlights
Accurate liquid-level control in an interconnected multitank system is a difficult problem for various industrial process devices
A L2 -gain disturbance attenuation technology is designed to resolve one class of disturbance problem by uncertain parameter perturbation existing in the quadruple-tank liquid-level system
L2 -gain disturbance attenuation technology is employed to resolve one class of disturbance problem by uncertain parameter perturbation existing in the quadruple-tank liquid-level system
Summary
Accurate liquid-level control in an interconnected multitank system is a difficult problem for various industrial process devices. The paper of [34], an adaptive disturbance attenuation control based on port-controlled Hamiltonian [35] was designed for two-tank liquid-level system with uncertain parameters. The authors of [40] proposed a smooth switching control method for the quadruple-tank liquid-level system, which resolved the problems of serious sliding mode buffeting and slow transient response in the backstepping control. The main contributions of this paper are summarized as follows: Firstly, in terms of the highly nonlinear and strong coupling characteristics of the quadruple-tank liquid-level system, a state error feedback linearization technique is employed to design the controller to achieve liquid-level position control and tracking control. A L2 -gain disturbance attenuation technology is designed to resolve one class of disturbance problem by uncertain parameter perturbation existing in the quadruple-tank liquid-level system.
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