Experimental validation of a nonlinear backstepping liquid level controller for a state coupled two tank system

Haizhou Pan; Hong Wong; Vikram Kapila; Marcio S. de Queiroz

doi:10.1016/j.conengprac.2003.12.019

Experimental validation of a nonlinear backstepping liquid level controller for a state coupled two tank system

Haizhou Pan, Hong Wong, Vikram Kapila, Marcio S. de Queiroz

Mechanical and Aerospace Engineering

Research output: Contribution to journal › Article › peer-review

Abstract

This paper addresses the nonlinear control design problem for a state-coupled, two-tank, liquid level system. Motivated by a desire to provide precise liquid level control, a set of nonlinear backstepping techniques is developed for the state-coupled, two-tank, liquid level system dynamics. Specifically, a model-based backstepping controller and an adaptive backstepping controller are designed for the two-tank, liquid level system. Utilizing the Lyapunov machinery, the set of backstepping control schemes is proven to yield exponentially/asymptotically stable tracking response for trajectories that are continuous and have bounded derivatives up to second order. To show the efficacy of the adaptive backstepping control design, detailed experimental comparisons vis-a-vis a proportional plus integral controller are provided.

Original language	English (US)
Pages (from-to)	27-40
Number of pages	14
Journal	Control Engineering Practice
Volume	13
Issue number	1
DOIs	https://doi.org/10.1016/j.conengprac.2003.12.019
State	Published - Jan 2005

Keywords

Adaptive control
Backstepping
Level control
Nonlinear dynamics
PI control

ASJC Scopus subject areas

Control and Systems Engineering
Computer Science Applications
Electrical and Electronic Engineering
Applied Mathematics

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10.1016/j.conengprac.2003.12.019

Cite this

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title = "Experimental validation of a nonlinear backstepping liquid level controller for a state coupled two tank system",

abstract = "This paper addresses the nonlinear control design problem for a state-coupled, two-tank, liquid level system. Motivated by a desire to provide precise liquid level control, a set of nonlinear backstepping techniques is developed for the state-coupled, two-tank, liquid level system dynamics. Specifically, a model-based backstepping controller and an adaptive backstepping controller are designed for the two-tank, liquid level system. Utilizing the Lyapunov machinery, the set of backstepping control schemes is proven to yield exponentially/asymptotically stable tracking response for trajectories that are continuous and have bounded derivatives up to second order. To show the efficacy of the adaptive backstepping control design, detailed experimental comparisons vis-a-vis a proportional plus integral controller are provided.",

keywords = "Adaptive control, Backstepping, Level control, Nonlinear dynamics, PI control",

author = "Haizhou Pan and Hong Wong and Vikram Kapila and {de Queiroz}, {Marcio S.}",

note = "Funding Information: Research supported in part by the National Science Foundation under grant EEC-0227479, the NASA/New York Space Grant Consortium under grant 39555-6519, and the Mechanical Engineering Department, Polytechnic University. Copyright: Copyright 2009 Elsevier B.V., All rights reserved.",

year = "2005",

month = jan,

doi = "10.1016/j.conengprac.2003.12.019",

language = "English (US)",

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pages = "27--40",

journal = "Control Engineering Practice",

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AU - Pan, Haizhou

AU - Wong, Hong

AU - Kapila, Vikram

AU - de Queiroz, Marcio S.

N1 - Funding Information: Research supported in part by the National Science Foundation under grant EEC-0227479, the NASA/New York Space Grant Consortium under grant 39555-6519, and the Mechanical Engineering Department, Polytechnic University. Copyright: Copyright 2009 Elsevier B.V., All rights reserved.

PY - 2005/1

Y1 - 2005/1

N2 - This paper addresses the nonlinear control design problem for a state-coupled, two-tank, liquid level system. Motivated by a desire to provide precise liquid level control, a set of nonlinear backstepping techniques is developed for the state-coupled, two-tank, liquid level system dynamics. Specifically, a model-based backstepping controller and an adaptive backstepping controller are designed for the two-tank, liquid level system. Utilizing the Lyapunov machinery, the set of backstepping control schemes is proven to yield exponentially/asymptotically stable tracking response for trajectories that are continuous and have bounded derivatives up to second order. To show the efficacy of the adaptive backstepping control design, detailed experimental comparisons vis-a-vis a proportional plus integral controller are provided.

AB - This paper addresses the nonlinear control design problem for a state-coupled, two-tank, liquid level system. Motivated by a desire to provide precise liquid level control, a set of nonlinear backstepping techniques is developed for the state-coupled, two-tank, liquid level system dynamics. Specifically, a model-based backstepping controller and an adaptive backstepping controller are designed for the two-tank, liquid level system. Utilizing the Lyapunov machinery, the set of backstepping control schemes is proven to yield exponentially/asymptotically stable tracking response for trajectories that are continuous and have bounded derivatives up to second order. To show the efficacy of the adaptive backstepping control design, detailed experimental comparisons vis-a-vis a proportional plus integral controller are provided.

KW - Adaptive control

KW - Backstepping

KW - Level control

KW - Nonlinear dynamics

KW - PI control

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Experimental validation of a nonlinear backstepping liquid level controller for a state coupled two tank system

Abstract

Keywords

ASJC Scopus subject areas

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