The quadruple-tank process: a multivariable laboratory process with an adjustable zero

Author

Johansson, Karl Henrik

Author_Institution

Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA

Volume

8

Issue

3

fYear

2000

fDate

5/1/2000 12:00:00 AM

Firstpage

456

Lastpage

465

Abstract

A multivariable laboratory process that consists of four interconnected water tanks is presented. The linearized dynamics of the system have a multivariable zero that is possible to move along the real axis by changing a valve. The zero can be placed in both the left and the right half-plane. In this way the quadruple-tank process is ideal for illustrating many concepts in multivariable control, particularly performance limitations due to multivariable right half-plane zeros. The location and the direction of the zero have an appealing physical interpretation. Accurate models are derived from both physical and experimental data and decentralized control is demonstrated on the process

Keywords

control engineering education; decentralised control; identification; level control; multivariable control systems; nonlinear dynamical systems; poles and zeros; two-term control; adjustable zero; decentralized control; interconnected water tanks; linearized dynamics; multivariable laboratory process; multivariable right half-plane zeros; quadruple-tank process; Control systems; Distributed control; Electrical equipment industry; Feedback; Frequency; Industrial control; Laboratories; Linear systems; Process control; Valves;

fLanguage

English

Journal_Title

Control Systems Technology, IEEE Transactions on

Publisher

ieee

ISSN

1063-6536

Type

jour

DOI

10.1109/87.845876

Filename

845876