Adaptive LQ control with pre-identification of two tanks laboratory model

Abstract

The paper deals with the control of laboratory model using the pre-identification procedure. The laboratory apparatus consists of two interconnected tanks. The main task of the control was to control the given water level in both tanks. The given continuous-time TITO (two input two output) model of the controlled system was firstly divided to the regions according to the change of at least one of the set-points and pre-identified using recursive instrumental variable method. The results of identification was verified with the measured response and stored. After that, the self-tuning control using suboptimal LQ (linear quadratic) control was realized. For that purpose, MATLAB software together with the Real-time toolbox and Humusoft technological card was used.