Abstract
A novel method of energy-shaping and integral control is proposed for the three-tank liquid level system. The mathematical model of the three-tank liquid level system is established based on port-controlled Hamiltonian (PCH) systems and mass balance principle. The three-tank liquid level system PCH controller is designed by means of interconnection assignment and damping injection and energy-shaping. The desired equilibrium point is also determined. The stability of the liquid level system is analyzed based on the passivity-based control theory. The integral control is added to eliminate the steady-state errors of the liquid level system. Moreover, simulation and experiment test are also carried out based on the laboratory experiment platform. The results prove that the proposed control method has good dynamic and steady state performances.
Published Version
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