2013
IMAACA 2013 Proceeding
Bond-graph based controller design of a two-input two-output four-tank system
Authors: Matías Nacusse, Sergio Junco
Abstract
The quadruple-tank process has been proposed as a benchmark for multivariable control system design. This paper addresses the design in the bond graph domain of a robust controller having the volumetric flows of two pumps as manipulated variables and the level of the two lower tanks as the regulated outputs. The basic control objectives, expressed in terms of desired closed-loop energy and power-dissipation functions, are captured in the bond graph domain means a so-called Target Bond Graph, and the controller design is performed via Bond-Graph prototyping. The basic control law is further robustified against parameter uncertainties, measurement deviations and faults using the diagnostic bond graph concept, what leads to an additional loop consisting in a PI-law also being expressed with a physically meaningful bond graph subsystem. Some causal manipulations on the four-tank bond graph allow to extend to this multi- variable case the technique developed to solve the simpler monovariable two-tank control problem.
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