Disturbance Observer-Based Feedback Linearization Control for a Quadruple-Tank Liquid Level System

Xiangxiang Meng; Haisheng Yu; Jie Zhang; Tao Xu; Herong Wu; Kejia Yan

doi:10.1016/j.isatra.2021.04.021

Disturbance Observer-Based Feedback Linearization Control for a Quadruple-Tank Liquid Level System

ISA Trans. 2022 Mar:122:146-162. doi: 10.1016/j.isatra.2021.04.021. Epub 2021 Apr 27.

Authors

Xiangxiang Meng¹, Haisheng Yu², Jie Zhang¹, Tao Xu¹, Herong Wu¹, Kejia Yan¹

Affiliations

¹ College of Automation, Qingdao University, No. 308, Ningxia Road, Qing dao, China.
² College of Automation, Qingdao University, No. 308, Ningxia Road, Qing dao, China. Electronic address: yhsh_qd@qdu.edu.cn.

PMID: 33972081
DOI: 10.1016/j.isatra.2021.04.021

Abstract

A novel input/output feedback linearization control method by utilizing nonlinear disturbance observer (NDOB) is proposed for a quadruple-tank liquid level (QTLL) system in this paper. Firstly, the mathematical model of QTLL system is established by using Bernoulli's law and mass conservation. Secondly, in view of the nonlinear and coupling characteristics of the QTLL system, a input/output feedback linearization controller is designed. Then, a NDOB is proposed to estimate disturbances and applied to compensation control. Finally, simulation and experimental results show that the proposed strategy has better control performances than PID control and the disturbance observer-based sliding mode control (DOBSMC).

Keywords: Compensation control; Feedback linearization; Liquid level system; NDOB; Quadruple-tank.