Design and Implementation of a Water Tank （水箱的设计和实现）.pdfVIP

Design and Implementation of a Water Tank Control System Employing a MIMO PID Controller Arturo Rojas–Moreno and Arturo Parra–Quispe Faculty of Electrical and Electronic Engineering, National University of Engineering Lima, Lima 25, Peru ABSTRACT for robust control design, in which the nonlinearity is considered as model uncertainty. An IMC–based ro- This paper develops a design procedure of a MIMO bust tunable controller design technique is applied to a PID (Multi-Input-Multi-Output Proportional–Integral– water tank control system. As the design provides an Derivative) control system for controlling level and on-line tuning method, the controller can be adjusted temperature in a water tank plant. Such a plant can when the operating point changes. Experimental re- be described by interconnected nonlinear differential sults show the advantages of this design. equations, which could complicate the analytical aspects The study developed in this paper considers a water of modeling and controller design. However, a linearized tank system described by interconnected nonlinear dif- technic was applied to obtain a MIMO linear description, ferential equations. The objective control consist in which permit to configure a control system by combining stabilize level and temperature of the