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MIMO nonlinear control based on Divided Difference Filters

Considering the superiority of Divided Difference Filters (DDF) in state estimation of nonlinear systems versus conventional Extended Kalman Filter (EKF), DDF which are derivate-free Kalman filtering approach are exploited in state feedback control based on proportional integral (PI) controller. The proposed combination is applied to a Multi-Input Multi-Output three-tank system. The efficiency of the DDF algorithms in state estimation of the nonlinear system is reflected in the control law synthesized by the PI controller.