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《第37届中国控制会议论文集(C)》2018年
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Liquid Level Tracking Control of Three-tank Systems

Shuyou Yu  Yu Zhou  Yangyang Feng  Ting Qu  Hong Chen  
【摘要】:In this paper, a liquid level tracking controller which is composed of a feedforward controller and a feedback controller is proposed for three-tank systems. Firstly, the flat property of three-tank systems is verified and a feedforward controller is designed accordingly so as to track the ideal trajectories. Secondly, in order to eliminate the tracking errors introduced by model uncertainties or unknown disturbances, a nonlinear model predictive controller is designed in which a terminal equality constraint is added for ensuring asymptotic convergence. Finally, the control performance is confirmed by both simulation and experiment results.

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