Experimental Validation of IMC-PID-FOF Controllers on the Water Level Tank System

摘要

In this paper, IMC-PID-FOF controllers are implemented on real time water level control of a coupled tank system. The 1DOF-IMC-PID-FOF controller is designed based on the IMC structure, the disturbance rejection is not considered in the controller design and the disturbance response has low performance. In the 2DOF-IMC-PID-FOF controller design, the disturbance rejection is considered, and solved separately from the set-point tracking problem. To do this, a complementary sensitivity function is defined and its time constant T_t is a tuning parameter, used to adjust the speed of the disturbance response. In the experiment, set-point tracking and disturbance rejection tests are carried out to evaluate the performance of both 1DOF-IMC-PID-FOF and 2DOF-IMC-PID-FOF controllers.