Application of IMC-based Robust Tunable Controller Design to Water Tank Level Regulation

Y. Duan, B. Boulet, and H. Michalska (Canada)


Modeling, water level control, robust control, IMC-based design, nonlinearity


Regulation of the level of liquid in a tank is a common industrial process control problem. The modeling of the dynamics of the liquid level and flow rate relies on the approximate linearity at the equilibrium point. A linear fractional transformation framework is set up for robust control design, in which the nonlinearity is considered as model uncertainty. An IMC-based robust tunable controller design technique is applied to a water tank control system. As the design provides an on-line tuning method, the controller can be adjusted when the operating point changes. Experimental results show the advantages of this design.

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