Constrained pole assignment control of a two tank system

This paper deals with a constrained control of nonlinear systems with a dominant second order dynamics, an non-modeled dynamics and a disturbance observer based integral action. Constraints of the control signal and states are considered. The nonlinear plant dynamics is transformed to a nonlinear canonical form and approximated by a zeroth Taylor term around a moving operating point. Possibilities in disturbance rejection and filtration are discussed and demonstrated by an example of a laboratory two tank hydraulic system led dynamics and a disturbance observer based integral action. Constraints of the control signal and states are considered. The nonlinear plant dynamics is transformed to a nonlinear canonical form and approximated by a zeroth Taylor term around a moving operating point. Possibilities in disturbance rejection and filtration are discussed and demonstrated by an example of a laboratory two tank hydraulic system.