Optimal tracking of the water level for a coupled tank system using Linear Quadratic Regulator
DOI:
https://doi.org/10.62876/tekhne.v25i3.5849Keywords:
reference tracking, optimal control, LQR, internal model, coupled tank systemAbstract
It is proposed an optimal controller that will lead to zero asymptotic steady-state tracking error. The reference inputs can include steps, ramps, and other persistent signals. For a step signal, it is well known that zero steady-state tracking error can be achieved with a type-one open loop system. This idea is formalized in this work, by augmenting the coupled tank system model with an internal model of the reference input. Then, through the LQR method, the desired performance objectives are addressed by minimizing a quadratic function of the state and control input. Experimental results on the coupled tank system have been provided to illustrate the effectiveness of the method.
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