Title :
The quadruple-tank process: a multivariable laboratory process with an adjustable zero
Author :
Johansson, Karl Henrik
Author_Institution :
Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA
fDate :
5/1/2000 12:00:00 AM
Abstract :
A multivariable laboratory process that consists of four interconnected water tanks is presented. The linearized dynamics of the system have a multivariable zero that is possible to move along the real axis by changing a valve. The zero can be placed in both the left and the right half-plane. In this way the quadruple-tank process is ideal for illustrating many concepts in multivariable control, particularly performance limitations due to multivariable right half-plane zeros. The location and the direction of the zero have an appealing physical interpretation. Accurate models are derived from both physical and experimental data and decentralized control is demonstrated on the process
Keywords :
control engineering education; decentralised control; identification; level control; multivariable control systems; nonlinear dynamical systems; poles and zeros; two-term control; adjustable zero; decentralized control; interconnected water tanks; linearized dynamics; multivariable laboratory process; multivariable right half-plane zeros; quadruple-tank process; Control systems; Distributed control; Electrical equipment industry; Feedback; Frequency; Industrial control; Laboratories; Linear systems; Process control; Valves;
Journal_Title :
Control Systems Technology, IEEE Transactions on
