SVD based Reconfigurable Tracking Controller for Threetank System via output/State Feedback

This paper deals with the control reconfiguration problem of partial actuator failure in a Three-Tank Multi-Input Multi-Output (MIMO) system. In order to tolerate known actuator failure, a reconfiguration in control parameter/structure is made through output/state feedback. A new Proportional-Integral (PI) Reconfigurable Controller (RC) design is proposed for servo tracking problem using Singular Value Decomposition (SVD) based Parametric Eigenstructure Assignment (PEA) technique. The main contribution of the paper is to design an optimal controller to achieve response shaping and guaranteed stability of the system. The effectiveness of the proposed controller is simulated by analyzing servo-regulatory responses of the three-tank system for various fault scenarios. Finally, performance of the proposed state and output feedback controllers are compared by using various performance indices. The comparison reveals the feasibility of controller used for practical applications