Development of generic dynamic nonlinear model for autonomous hybrid system and design of inverse dynamics controller and derivative free state estimator in presence of uncertainties

This paper demonstrates the development of a generic nonlinear model for describing the dynamics of an autonomous hybrid system and it is validated by conducting experiments on real-time experimental set up as one of the contribution. A cylindrical three-tank hybrid system is considered for this purpose. Recently, the study of dynamics of hybrid system and its control strategies for performance improvement have become very significant in a perspective where in most of such studies combine the behavior of both continuous and discrete time systems. As a second contribution, such a model is used for the design of an efficient inverse dynamics controller (IDC) for controlling the output variable of the system to the desired set point and also a robust, derivative-free state estimator for predicting all the states of the system in presence of noise and parameter uncertainties. The effectiveness of the controller and estimator is illustrated by conducting simulation studies and experiments with real-time experimental setup.