Three-tank virtual laboratory for dynamical feedforward control based on Matlab

This contribution extends the series of papers about virtual laboratory for control of a hydraulic system that is based on Matlab/Simulink environment. It presents the application of dynamical feedforward control for a three-tank system that can run locally or via the Internet as a virtual laboratory. The controller design uses exact linearization techniques and takes into account input saturations. The developed controller is able to cope with disturbances thank to a nonlinear disturbance observer included into the control circuit. Noisy signals can be suppressed by the choice of filters. The main advantage of a newly developed dynamical feedforward controller is the ability to work with time delays. The designed application now represents a complex tool to perform different control strategies on different hydraulic systems. Its interface offers many configuration parameters to be set for the system, controller, observer and filters so sensitivity to various control scenarios can be examined. The application can serve as a learning supporting tool in teaching courses of nonlinear control systems.