Output Feedback Reference Tracking for Constrained Linear Systems via Invariant Sets: The Coupled Tanks Process

Authors

  • Matheus M. Rodrigues Computing Institute, Federal University of Alagoas
  • Glauber R. Leite Computing Institute, Federal University of Alagoas
  • Ícaro B. Q. de Araújo Computing Institute, Federal University of Alagoas
  • Tiago A. Almeida Computing Institute, Federal University of Alagoas
  • Carlos E. T. Dórea Department of Computer Engineering and Automation, Federal University of Rio Grande do Norte

Keywords:

Linear systems, Invariant sets, Output feedback, Reference tracking, Constraints, Coupled tanks

Abstract

The design of a practical output feedback controller applied to the constant reference tracking problem for constrained linear discrete-time systems via set-invariance techniques is presented. In this regard, Output-Feedback Controlled-Invariant (OFCI) Polyhedra are used to ensure that state and input constraints are satisfied at all times. A common coupled tanks process that consists of two interconnected water tanks is used. Based on the measured output and on the linearized dynamics of the system, a suitable control sequence is computed via linear programming such that reference tracking for the real system under constraints is achieved. The practical results show that the control objective is fulfilled and also illustrate performance limitations due to the use of a model approximation and the measurement noise.

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Published

2024-10-18

Issue

Vol. 4 No. 1 (2024): CBA2024

Section

Articles