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An application of the individual channel analysis and design approach to control of a two-input two-output coupled-tanks system

Murray-Smith, D.J. (2012) An application of the individual channel analysis and design approach to control of a two-input two-output coupled-tanks system. Acta Polytechnica, 52(4), pp. 121-134.

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Abstract

Frequency-domain methods have provided an established approach to the analysis and design of single-loop feedback control systems in many application areas for many years. Individual Channel Analysis and Design (ICAD) is a more recent development that allows neo-classical frequency-domain analysis and design methods to be applied to multi-input multi-output control problems. This paper provides a case study illustrating the use of the ICAD methodology for an application involving liquid-level control for a system based on two coupled tanks. The complete nonlinear dynamic model of the plant is presented for a case involving two input flows of liquid and two output variables, which are the depths of liquid in the two tanks. Linear continuous proportional plus integral controllers are designed on the basis of linearised plant models to meet a given set of performance specifications for this two-input two-output multivariable control system and a computer simulation of the nonlinear model and the controllers is then used to demonstrate that the overall closed-loop performance meets the given requirements. The resulting system has been implemented in hardware and the paper includes experimental results which demonstrate good agreement with simulation predictions. The performance is satisfactory in terms of steady-state behaviour, transient responses, interaction between the controlled variables, disturbance rejection and robustness to changes within the plant. Further simulation results, some of which involve investigations that could not be carried out in a readily repeatable fashion by experimental testing, give support to the conclusion that this neo-classical ICAD framework can provide additional insight within the analysis and design processes for multi-input multi-output feedback control systems.

Item Type:	Articles
Keywords:	multivariable, feedback, control, coupled tanks, frequency domain, nonlinear
Status:	Published
Refereed:	Yes
Glasgow Author(s) Enlighten ID:	Murray-Smith, Professor David
Authors:	Murray-Smith, D.J.
Subjects:	T Technology > TJ Mechanical engineering and machinery T Technology > TK Electrical engineering. Electronics Nuclear engineering
College/School:	College of Science and Engineering > School of Engineering > Systems Power and Energy
Journal Name:	Acta Polytechnica
Publisher:	Ceske Vysoke Uceni Technicke
ISSN:	1210-2709
ISSN (Online):	1805-2363
Published Online:	01 September 2012
Copyright Holders:	Copyright © 2012 Ceske Vysoke Uceni Technicke
First Published:	First published in Acta Polytechnica 52(4):121-134
Publisher Policy:	Reproduced with the permission of the publisher

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References

[1] Wellstead, P.E.: Coupled Tanks Apparatus: Manual, TecQuipment Ltd., UK, 1981. [2] O'Reilly, J. and Leithead, W.E.: Multivariable control by 'individual channel design'. International Journal of Control, 54, 1991, pp. 1-46. [3] Leithead, W.E. and O'Reilly, J.:Performance issues in the individual channel design of 2-input 2-output systems. 1. Structural issues. International Journal of Control, 54, 1991, pp. 47-82. [4] Leithead, W.E. and O'Reilly. J.: Performance issues in the Individual Channel Design of 2-input 2-output systems 2. Robustness issues. International Journal of Control, 55, 1992, pp. 3-47. [5] O'Reilly, J. and Leithead, W.E.: Frequency-domain approaches to multivariable feedback control system design: An assessment by individual channel design for 2-input 2-output systems. Control Theory and Advanced Technology, 10, 1995, pp. 1913-1940. [6] Kocijan, J. Bibliography on Individual Channel Analysis and Design Framework. http://dsc.ijs.si/jus.kocijan/ICAD. (Accessed successfully 1.11.2011). [7] Gong, M. and Murray-Smith, D.J: A practical exercise in simulation model validation, Mathematical and Computer Modelling of Dynamical Sytems, 4, 1998, pp. 100-117. [8] Murray-Smith, D.J., The Individual Channel Analysis and Design method applied to control of a coupled-tanks system: simulation and experimental results. In: "Proceedings of the 7th EUROSIM Congress on Modelling and Simulation". (Editors: M. Šnorek,, Z. Buk,, M. Čepek, and J. Drchal), Prague: Department of Computer Science and Engineering, Czech Technical University in Prague (CTU), 2010. (ISBN 9788001045893). [9] Murray-Smith, D.J., Kocijan, J. and Gong, M.: A signal convolution method for estimation of controller parameter sensitivity functions for tuning of feedback control systems by an iterative process. Control Eng. Practice, 11, 2003, pp. 1087-1094. [10] Tan, K.C., Li, Y., Murray-Smith, D.J. Sharman, K.C.: System identification and linearisation using genetic algorithms with simulated annealing. In: "Proc. Conf. on Genetic Algorithms in Eng. Syst.: Innovations and Applications, 12-14 September 1995", (IEE Conference Publication No. 414), London: IEE, 1995. pp. 164-189. [11] Gray, G.J., Murray-Smith, D.J., Li, Y., Sharman, K.C. and Weinbrenner, T.: Nonlinear model structure identification using genetic programming, Control Eng. Practice, 6, 1998, pp. 1341-1352. [12] Chiang, J.L.: Control System for a Two-Input Two-Output Liquid Level System, Project Report 94-179, University of Glasgow, Department of Electronics and Electrical Engineering, 1994. [13] Golten, J. and Verwer, A.: Control System Design and Simulation, McGraw-Hill, London, 1991.

Deposit and Record Details

ID Code:	73171
Depositing User:	Professor David Murray-Smith
Datestamp:	07 Jan 2013 15:48
Last Modified:	23 Sep 2021 07:53
Date of first online publication:	September 2012
Date Deposited:	14 December 2015