Tanks

Tanks#

Tags

Tracking, Stable,

Available

1

Inputs

4

Outputs

3

Introduction#

The Tanks setup consists of three tanks arranged in a cascade. The objective is to keep the level in all three tanks at the desired value by adjusting the pump going into the first tank and three automatic valves. The figure below shows the system, including a schematic with the relevant variables.

Tanks setup

Fig. 3 Tanks setup.#

Schematic of the three tanks

Fig. 4 Schematic of the three tanks.#

This system has three control inputs \(u_0\) and \(u_1\), \(u_2\), \(u_3\), which are the PWM signal to the pump and the opening of the three valves, respectively. These inputs are commanded from the computer. There are three measured outputs corresponding to the levels in the three tanks, \(H_1\), \(H_2\), \(H_3\).

Control Objective#

Design a controller that keeps the desired levels in all three tanks. The controlled system should have adequate disturbance rejection properties, i.e., it should be able to recover from adjusting the manual valves.