Simulation of 1DOF and 2DOF adaptive control of the water tank model

Abstract

The water tank is a typical nonlinear system representing several types of systems like barrels, reservoirs, tanks etc. for liquid. The simulation, similarly as in other cases, can help with the understanding of the system's static and dynamic behavior and it is starting point for the controller design. The adaptive control in this work is based on the choice of the external linear model of the nonlinear system, parameters of which are identified recursively and the controller's parameters are also recomputed recursively according to the identified system. Basic control requirements are satisfied with the use of polynomial approach together with the Pole-placement method and spectral factorization. The resulting controller has also one tuning parameter which affects mainly the speed of the control and overshoots. Two control schemes with one degree-of-freedom and two degrees-of-freedom are tested and compared in the work. © ECMS Valeri M. Mladenov, Petia Georgieva, Grisha Spasov, Galidiya Petrova (Editors).