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A servo system exemplifies a second-order system, featuring a proportional controller and load elements that ensure the output position aligns with the input position. The relationship between these components is described by a second-order differential equation. Applying the Laplace transform under zero initial conditions yields the transfer function, showing how inputs are converted to outputs in the system.
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Related Experiment Video

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Interactive and Visualized Online Experimentation System for Engineering Education and Research

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Output feedback full-order sliding mode control for a three-tank system.

Akihiko Hosokawa¹, Yusei Mitsuhashi¹, Kazuki Satoh¹

¹Department of Intelligent Systems Engineering, College of Engineering, Ibaraki University, 4-12-1 Nakanarusawa, Hitachi, Ibaraki 316-8511, Japan.

ISA Transactions

|July 8, 2022

Summary

This study introduces a robust nonlinear control method for uncertain three-tank systems, achieving accurate output tracking using only one liquid level sensor. The advanced sliding mode controller effectively handles system uncertainties for improved performance.

Keywords:

Full-order sliding mode control Higher-order sliding mode differentiator Output feedback Three-tank system

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Area of Science:

Control Engineering
Nonlinear Systems
Chemical Process Control

Background:

Industrial process control often involves complex, uncertain systems like multi-tank configurations.
Accurate liquid level control is crucial for maintaining process stability and efficiency.
Output feedback control is desirable to minimize sensor requirements.

Purpose of the Study:

To develop a robust output feedback nonlinear control method for uncertain three-tank systems.
To achieve precise output tracking using minimal measurements (only the target tank's level sensor).
To design a controller that compensates for both additive and multiplicative uncertainties.

Main Methods:

Coordinate transformation to a canonical uncertain system form.
Higher-order sliding mode differentiator for state estimation from liquid level measurements.
Continuous full-order sliding mode controller design based on estimated states.

Main Results:

Successful state estimation using only the target tank's liquid level.
Elimination of additive and multiplicative uncertainties by the sliding mode controller.
Demonstrated control performance through rigorous analysis and experimental validation.

Conclusions:

The proposed output feedback nonlinear control method offers robust tracking for uncertain three-tank systems.
The approach effectively utilizes limited measurements, reducing instrumentation needs.
Experimental results confirm the method's practical applicability and effectiveness.