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Volume 7 Issue 1
Jan.  2020

IEEE/CAA Journal of Automatica Sinica

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Soumya Ranjan Mahapatro, Bidyadhar Subudhi and Sandip Ghosh, "Design of a Robust Optimal Decentralized PI Controller Based on Nonlinear Constraint Optimization For Level Regulation: An Experimental Study," IEEE/CAA J. Autom. Sinica, vol. 7, no. 1, pp. 187-199, Jan. 2020. doi: 10.1109/JAS.2019.1911516
Citation: Soumya Ranjan Mahapatro, Bidyadhar Subudhi and Sandip Ghosh, "Design of a Robust Optimal Decentralized PI Controller Based on Nonlinear Constraint Optimization For Level Regulation: An Experimental Study," IEEE/CAA J. Autom. Sinica, vol. 7, no. 1, pp. 187-199, Jan. 2020. doi: 10.1109/JAS.2019.1911516

Design of a Robust Optimal Decentralized PI Controller Based on Nonlinear Constraint Optimization For Level Regulation: An Experimental Study

doi: 10.1109/JAS.2019.1911516
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  • This paper presents the development of a new robust optimal decentralized PI controller based on nonlinear optimization for liquid level control in a coupled tank system. The proposed controller maximizes the closed-loop bandwidth for specified gain and phase margins, with constraints on the overshoot ratio to achieve both closed-loop performance and robustness. In the proposed work, a frequency response fitting model reduction technique is initially employed to obtain a first order plus dead time (FOPDT) model of each higher order subsystem. Furthermore, based on the reduced order model, a proposed controller is designed. The stability and performance of the proposed controller are verified by considering multiplicative input and output uncertainties. The performance of the proposed optimal robust decentralized control scheme has been compared with that of a decentralized PI controller. The proposed controller is implemented in real-time on a coupled tank system. From the obtained results, it is shown that the proposed optimal decentralized PI controller exhibits superior control performance to maintain the desired level, for both the nominal as well as the perturbed case as compared to a decentralized PI controller.

     

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    Highlights

    • Obtaining a suitable model of the Coupled Tank System that is necessary for decoupler design based on frequency response fitting approach.
    • Design of a new robust optimal decentralized PI controller based on nonlinear optimization for liquid level control of multivariable system to achieving set-point tracking and disturbance rejection.
    • Verification of Robust stability of the controller in presence of multiplicative input and output uncertainty.
    • Comparison of level control performance for set-point tracking and disturbance rejection.
    • Validation of the proposed controller experimentally.

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