Multi-agent PID and fractional PID control of the three-tank benchmark system

This paper addresses the development of a multi-agent system to control the three-tank benchmark plant with PID and fractional PID controllers. Each tank was controlled using an agent implemented in a different computer; under normal circumstances, agents are expected to communicate to exchange information and cooperate to achieve their goals; if there should be a communication failure, each agent is able to pursue control on its own, attempting to keep performance as good as possible by using simulations to supply unavailable data. Furthermore agents are able to identify the plant and change the control laws accordingly. Simulation and experimental results are given showing the control system´s robustness properties.