Multivariable Gain Scheduled Control of Four Tanks System: Single Scheduling Variable Approach
Motivated by the special class of nonlinear systems, we introduce a scheduling technique that aims at extending the region of validity of linearization by designing an extra scheduling mechanism. Specifically, we show, how a simplification of a control problem may results in a considerably difficult scheduling procedure. In particular, the scheduling problem in the context of a nonlinear model of four tanks is addressed. The main innovation consists in the use of auxiliary scheduling variables dealing with the problem of limited number of output variables. This allows to construct a linear feedback controller at each operating point. Additionally, an integral control which ensures desired stability and performance requirements is presented. The resulting method has been integrated into the gain scheduled control design of the four tanks system and has shown a great performance through the operating range.
KeywordsGain scheduled design Integral control Four tanks system
This article was created with support of the Ministry of Education of the Czech Republic under grant IGA reg. n. IGA/FAI/2016/006.
- 2.Krhovják, A., Dostál, P., Talaš, S. Rušar, L.: Nonlinear gain scheduled controller for a sphere liquid tank. s.l. In: European Council for Modelling and Simulation (ECMS), pp. 327–332 (2015)Google Scholar
- 3.Krhovják, A., Dostál, P., Talaš, S., Rušar, L.: Multivariable gain scheduled control of two funnel liquid tanks in series. In: Strbske Pleso, s.n., pp. 60–65 (2015)Google Scholar
- 6.Raff, T., Hubber, S., Nagy, Z.K., Allglöwer, F.: Nonlinear Model Predictive Control of a Four Tank System: An Experimental Stability Study, pp. 237–242. IEEE, Munich (2006)Google Scholar
- 7.Rugh, W.J.: Analytical framework for gain scheduling. IEEE Control Syst. Mag. 11(1), 79–84 (1991)Google Scholar
- 9.Shamma, J.S., Athans, M.: Gain scheduling: potential hazards and possible remedies. IEEE Control Syst. Mag., 101–107 (1991)Google Scholar
Open Access This chapter is licensed under the terms of the Creative Commons Attribution-NonCommercial 2.5 International License (http://creativecommons.org/licenses/by-nc/2.5/), which permits any noncommercial use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license and indicate if changes were made.
The images or other third party material in this chapter are included in the chapter's Creative Commons license, unless indicated otherwise in a credit line to the material. If material is not included in the chapter's Creative Commons license and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder.