Tensor Product-based and State Feedback Structures for Level Control of Vertical Three Tank Systems

Abstract

In this paper, the design and validation of 20 Control System (CS) structures for the level control cof Vertical Three Tank Systems (V3TSs) is presented. At first a TP model and four linear models are derived for a V3TS. Next, five CS structures are designed for each model consisting in a Tensor Product (TP) controller and four state feedback controllers tuned using linear matrix inequalities and the parallel distributed compensation technique. Finally, in order to ensure zero steady–state control error, the five CS structures were included in Cascade Control System (CCS) structures with Proportional–Integral–Derivative (PID) controller in the outer control loop. All CS structures were tested in the same experimental scenario and a comparative analysis was also conducted by computing two performance indices, namely the mean square error and the settling time. The experimental results have shown that, unlike the TP-based CS structures, the CCS structures with PID controller in the outer control loop ensure better performance in terms of zero steady–state control error.