Teaching multivariable control using the quadruple-tank process

A multivariable laboratory process is presented together with its use in a graduate control course. The process is called the quadruple-tank process and demonstrates a multivariable level control problem. The multivariable zero dynamics of the system can be made both minimum phase and nonminimum phase by simply changing a valve. This makes the quadruple-tank process suitable for illustrating many concepts in linear and nonlinear multivariable control. In the paper some of these are described together with the basic setup of the process. Two computer exercises and one laboratory exercise have been developed as part of a course in multivariable and nonlinear control. These are detailed and some experience from the course is presented.

[1]  L. Ljung,et al.  Control theory : multivariable and nonlinear methods , 2000 .

[2]  Ian Postlethwaite,et al.  Multivariable Feedback Control: Analysis and Design , 1996 .

[3]  Karl Johan Åström,et al.  A Teaching Laboratory for Process Control , 1985 .

[4]  Karl Johan Åström,et al.  A teaching laboratory for process control , 1986 .

[5]  S. Menani,et al.  Automatic tuning of multivariable controllers with adaptive relay feedback , 1996, Proceedings of 35th IEEE Conference on Decision and Control.

[6]  Keith Glover,et al.  A loop-shaping design procedure using H/sub infinity / synthesis , 1992 .

[7]  E. Bristol.  On a new measure of interaction for multivariable process control , 1966 .

[8]  K.J. Astrom,et al.  Lund control program combines theory with hands-on experience , 1992, IEEE Control Systems.

[9]  Graham C. Goodwin,et al.  Fundamental Limitations in Filtering and Control , 1997 .

[10]  W. Schaufelberger,et al.  Software and laboratory experiments using computers in control education , 1989, IEEE Control Systems Magazine.

[11]  Michael Grebeck.  A Comparison of Controllers for the Quadruple Tank System , 1998 .

[12]  José Luís Nunes.  Modeling and Control of the Quadruple-Tank Process , 1998 .

[13]  Hartmut Logemann,et al.  Multivariable feedback design : J. M. Maciejowski , 1991, Autom..

[14]  Karl Henrik Johansson,et al.  Relay Feedback and Multivariable Control , 1997 .

[15]  J. Freudenberg,et al.  Frequency Domain Properties of Scalar and Multivariable Feedback Systems , 1988 .

[16]  Evanghelos Zafiriou,et al.  Robust process control , 1987 .

[17]  Stephen P. Boyd,et al.  Linear controller design: limits of performance , 1991 .

[18]  Karl Henrik Johansson,et al.  The quadruple-tank process: a multivariable laboratory process with an adjustable zero , 2000, IEEE Trans. Control. Syst. Technol..

[19]  Thomas J. McAvoy,et al.  Interaction analysis : principles and applications , 1983 .

[20]  Karl Henrik Johansson.  Interaction bounds in multivariable control systems , 1999 .