A hybrid control system design and implementation for a three tank testbed

This paper discusses methodologies for designing limited lookahead supervisory controllers for a class of embedded systems that can be modeled as switching hybrid system (SHS). In the limited lookahead control approach, a limited forward horizon of possible behaviors is explored at each time step. The controller uses a cost function to determine the immediate action that moves the system toward the "best" state on the horizon. We discuss the controller design and implementation for a three-tank system test-bed with distributed sensor and actuation units. A set of real-time fault adaptive control experiments demonstrate the effectiveness of the approach