Simulator-based foresight control of level of three tanks in series

We have to synthesize a control signal to achieve an ideal control performance taking advantage of ZIR (zero input response) and ZSR (zero state response). First, we define ideal transient dynamics. Then we construct a simulator based on a physical model of a nonlinear plant, and identify not only parameters but also initial states of state variables. Since we can foresee the dynamics of the nonlinear plant output with information of the internal states of the nonlinear simulator, an ideal control performance is achieved by a simulator-based controller taking advantage of ZIR and ZSR