Abstract
Fractional calculus is defined by expanded integer order integration and differentiation. In this paper, multiple mathematical models of a nonlinear dual-tank device are precisely formulated by fractional calculus. Using the accurate model, a multivariable fractional-order controller is designed for nonlinear devices. The merits of the fractional-order design include: (1) control of multivariable nonlinearities, (2) compensation of uncertainties, and (3) elimination of coupling effects. Simulations and experiments are conducted to verify the precision of the fractional order models and the effectiveness of the multivariable fractional-order control system design.
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