Decentralized Robust Controller for Two-Tank Liquid Flow Process with Recycle
الموضوعات :
1 - Department of Electrical Engineering, Sabzevar Branch, Islamic Azad University, Sabzevar, Iran
الکلمات المفتاحية: Decentralized Control, H2/H∞, liquid level control, MIMO system, Robust stability,
ملخص المقالة :
In this paper, we propose the improvement of a modern technique for the synthesis of decentralized robust control for two-input, two-output (MIMO) nonlinear systems. interaction, stability analysis, and controller design for the Two-Tank Liquid Flow Process with recycling have been done. The equations of the system are non-linear and have two inputs and two outputs. The Gershgorin bands check the system's interaction and the system's instability is studied by using a generalized Nyquist diagram. The linear model is used, so that it is necessary to consider uncertainty. In a physical system, it is essential to consider several goals; despite the uncertainty, the system should be stable, desire performance without considering the uncertainty, and minimize the disturbance effect, due to the interaction. In the first step, the pre-compensator is used for decoupling. Then, due to the uncertainty and disturbance, the H2/H∞ robust controller is designed to minimize the three conditions of robust stability and nominal performance while minimizing the disturbance effect for each channel. The proposed method, for the synthesis of the decentralized robust nonlinear multivariable control systems, is approved for the two-tank system. The simulation results show the success of the robust decentralized controller with minimum control signal and order.
[1] M.Dulău, T. M. Dulău, “Multivariable System with Level Control, Procedia Technology,”Procedia Technology, vol.22, pp. 614-622, 2016. doi:10.1016/j.protcy.2016.01.128.
[2] O.Digun, “Decentralized Fuzzy-PID Based Control Model for a Multivariable Liquid Level System,” Journal of Advances in Computer Engineering and Technology, vol. 4, no.4, pp.247-254, 2018.
[3] X. Meng, H. Yu, H. Wu, T. Xu, “Disturbance Observer-Based Integral Backstepping Control for a Two-Tank Liquid Level System Subject to External Disturbances,” Mathematical Problems in Engineering, vol. 2020, doi:10.1155/2020/6801205.
[4] C. Urrea, F. Páez, “Design and Comparison of Strategies for Level Control in a Nonlinear Tank,” Processes vol. 9, 2021,doi:10.3390/pr9050735.
[5] X. Zhang, C. Lv, P. Wang, H. Lv, “Design of liquid level control system for double tank,” IOP Conf. Series: Materials Science and Engineering, vol. 740, 2020, doi:10.1088/1757-899X/740/1/012097.
[6] M.A. Fellani, A.M. Gabaj, “PID Controller Design for Two Tanks Liquid Level Control System using Matlab,” International Journal of Electrical and Computer Engineering (IJECE), vol. 5, no. 3, pp. 436-442, 2015, doi:10.11591/ijece.v5i3.pp436-442.
[7] F. Zhou, H. Peng, X. Zeng, X. Tian, J. Wu, “Modeling and Control Approach to Coupled Tanks Liquid Level System Based on Function-Type Weight RBF-ARX Model,” Asian Journal of Control, vol. 19, no. 2, pp. 1–16, 2017. doi: 10.1002/asjc.1393.
[8] W. Xu, X. Zhang, X.; Wang, H. “A Water Tank Level Control System with Time Lag Using CGSA and Nonlinear Switch Decoration,” Applied system innovation, vol. 6, no. 12, 2023. doi:10.3390/asi6010012.
[9] O. Geylani, B. Ata, "Adaptive Sliding Mode Control of a Coupled Tank System," 2022 International Congress on Human-Computer Interaction, Optimization and Robotic Applications (HORA), Ankara, Turkey, 2022, pp. 1-5, doi: 10.1109/HORA55278.2022.9799973.
[10] E. Mehri, M. Tabatabaei, “Control of Quadruple Tank Process Using an Adaptive Fractional‑Order Sliding Mode Controller,” Journal of Control, Automation and Electrical Systems, vol. 32, pp. 605–614, 2021, doi:10.1007/s40313-021-00703-2.
[11] H. T. Sekban, K. Can, A. Basci, "Model-based Dynamic Fractional-order Sliding Mode Controller Design for Performance Analysis and Control of a Coupled Tank Liquid-level System," Advances in Electrical and Computer Engineering, vol.20, no.3, pp.93-100, 2020, doi:10.4316/AECE.2020.03011.
[12] A. Kia Kojouri, J.Mashayekhi Fard,“An efficient application of particle swarm optimization in model predictive control of constrained two-tank system,” International Journal of Electrical and Computer Engineering, Vol. 12, No. 4, 2022, doi:10.11591/ijece.v12i4.pp3540-3550.
[13] S.Y. Sim, S.L. Kek, K.G. Tay, “Optimal Control of a Coupled Tanks System with Model-Reality Differences,” Mathematical Methods and Computational Techniques in Science and Engineering, AIP Conference, 2017, doi: 10.1063/1.4996669.
[14] M. Changela, A. Kumar, “Designing a Controller for Two Tank Interacting System,” International Journal of Science and Research, vol.4, Issue. 5, 2015.
[15] M. Nafea, A.R. Mohammad Ali, J. Baliah, M.S. Mohamed Ali, “Metamodel-based Optimization of a PID Controller Parameters for a Coupled-tank System,” TELKOMNIKA, vol.16, no.4, pp. 1590-1596, 2018, doi: 10.12928/TELKOMNIKA.v16i4.9069.
[16] O. Bosgra, H. Kwakernaak, “Design Methods for Control Systems,” Course notes, Dutch Institute for Systems and Control, Vol. 67, 2004.
[17] M. Shojaee, S.M Azizi, “Sequential Design of Decentralized Robust Controllers for Strongly Interconnected Inverter-Based Distributed Generation Systems: A Comparative Study versus Independent Design,” Energies vol. 15, 2022, Doi:10.3390/en15238995.
[18] J. Björk, K. H. Johansson, “A Scalable Nyquist Stability Criterion with Application to Power System Small-Signal Stability,” Electrical Engineering and Systems Science, doi: 10.48550/arXiv.2010.09295.
[19] R. Rajabioun, A.Mamizadeh, “gershgorin bands minimization for decoupling MIMO systems and decentralized PID design using COA,” 13th International Conference on Technical and Physical Problems of Electrical Engineering, Turkey, 2017.
[20] D. Dileep, R.V. Parys, G. Pipeleers, L. Hetel, J.P. Richard, W. Michiels, “Design of robust decentralised controllers for MIMO plants with delays through network structure exploitation,” International Journal of Control , vol. 93, Issue. 10, pp. 2275-2289, 2020, https://doi.org/10.1080/00207179.2018.1554268.
[21] M. S. Sulaiman, Z. Ahmad, “Minimizing loop interaction in Multi Input Multi Output (MIMO) system using partial decoupler approach,” IOP Conference SeriesMaterials Science and Engineering, 2019, doi:10.1088/1757-899X/702/1/012018.
[22] P. Albertos, A.Sala, “Multivariable Control Systems: An Engineering Approach,” Springer; 2004th edition.
[23] Q. Chen, J. Huang, M. Pan, F.Lu, “H2/H∞ Output Tracking Control with a Performance Compensator for Aeroengines,” Applied. Science, vol. 10, no. 14, 2020, https://doi.org/10.3390/app10144929.
[24] J. Mashayekhi Fard, “Robust Multi-Objective Control of Power System Stabilizer Using Mixed H2/H∞ and μ Analysis,” International Journal of Electrical and Computer Engineering, vol. 8, no. 6, pp. 4800-4809, 2018, doi: 10.11591/ijece.v8i6.pp.4800-4809.
[25] J. Mashayekhi Fard, M.A. Nekoui, A. Khaki Sedigh, R. Amjadifard, “Robust Multivariable Controller Design with the simultaneous H2/H∞/μ for a Single Person Aircraft,” International Journal of Electrical and Computer Engineering , vol. 3, no. 2, 2013, pp. 279-286, doi:10.11591/ijece.v3i2.2352.
[26] V.H. Haji, A. Fekih, C.A. Monje, R.F. Asfestani, “H2, H∞, H2/H∞, and μ-synthesis controllers for the speed and temperature control of a real gas turbine unit in a combined cycle power plant,” Energy Science& Engineering, pp. 2205-2222,2019. doi:10.1002/ese3.425.
