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High Performance Control of a Coupled Tanks System as an Example for Control Teaching

A detailed analysis of level control in a coupled tanks system is performed with respect to load disturbance attenuation. A nonlinear model of the system based on certain normalized variables that bases on only one parameter is constructed and linearized. A strong dependence of system properties on that parameter is highlighted. A simple method of choosing controller type and its settings is proposed that bases on time scale separation. PI control of the first tank, and PI and/or PID control of the second tank as well as cascade P/PI control system are analyzed. Invariance of the well designed control systems with respect to changes of the working point is highlighted.