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Muhammad Abid
Three Tank System is a Laboratory equipment and can be used as a bench mark
for different control problems. Due to its highly nonlinear behavior, it can be
used as a good example to show the superiority and usefulness of Fuzzy Control.
The Three Tank System consists of two major parts: the three tank system
DTS200 [1]as the controlled plant and a DSP-system [2] which may be used to
implement the control law.
This chapter introduces three tank system in details. A nonlinear model is
derived for the system and the uncertainties are modeled. The system is then
linearized at some operating point. A nonlinear controller is used to obtain two
decoupled linear systems and one nonlinear system.
1
Table 1.1: Parameters of the three tank system
Pump 1 Pump 2
A A A
Tank 1
Tank 3 Tank 2
H max
h1
h3
h2
sn
Ac h˙1 = Q1 − Q13
Ac h˙2 = Q2 + Q32 − Q20
Ac h˙3 = Q13 − Q32
p
Q13 = a1 s13 sgn(h1 − h3 ) 2g|h1 − h3 |
p
Q32 = a3 s23 sgn(h3 − h2 ) 2g|h3 − h2 |
p
Q20 = a2 s0 2gh2 (1.1)
where Q1 (t), Q2 (t) are incoming mass flows and h1 (t), h2 (t), h3 (t) are the water
level of each tank and can be measured. The three circular tanks have the same
2
cross section A and are interconnected via circular pipes with cross sections s13 ,
s23 . The outlet pope is also circular with cross section s0 . a1 ,a2 and a3 are
scaling constants and g is the gravity constant.
3
1.4 Model uncertainty
We consider the model uncertainty caused by the linearization. We assume that
the operating region is defined as
40 ≤ h1 ≤ 50
10 ≤ h2 ≤ 20 (1.5)
25 ≤ h3 ≤ 35
The nominal model is only valid at the the linearizataion point. However, as
the operating point deviates from the linearization point, the linearized model
will be no more valid. That is,
−θ13 − δθ13 0 θ13 + δθ13
1
Ā = 0 −θ32 − δθ32 − θ20 − δθ20 θ32 + δθ32
Ac
θ13 + δθ13 θ32 + δθ32 −θ13 − θ32 − δθ32 − δθ13
−θ13 0 θ13
1
= 0 −θ32 − θ20 θ32
Ac
θ13 θ32 −θ13 − θ32
| {z }
A
−δθ13 0 δθ13
1
+ 0 −δθ32 − δθ20 −δθ32
Ac
δθ13 δθ32 −δθ32 − δθ13
| {z }
∆A
−δθ13 0 δθ13
1
∆A = 0 −δθ32 − δθ20 −δθ32
Ac
δθ13 δθ32 −δθ32 − δθ13
δ1 h11 0 δ1 h13
= 0 δ2 h22 δ2 h23
δ3 h31 δ3 h32 δ3 h33
δ1 0 0 h11 h12 h13
= 0 δ2 0 h21 h22 h23
0 0 δ3 h31 h32 h33
| {z }| {z }
∆ H
δ
0.0147-0.0085=0.0062 Now Aθ13 c
≤ 0.0062 (The variation of θA13c is 0.0066 ≤ θA13c ≤ 0.0147), that
is |δ1 h11 | ≤ 0.0062, set h11 = −0.0085 |δ1 | ≤ 0.0062/h11 = 0.729 (In book,
it has been mistakenly taken as |δ1 | ≤ h11 /0.0062 = 1.37). The same steps
can be carried to to find that h13 = 0.0085. Furthermore, it is evident that
h12 = 0, h21 = 0.
0.0143-0.0084=0.0059 δ
Now we proceed to find h32 . It can be computed that Aθ32 c
≤ 0.0059
(The variation of θA13c is 0.0064 ≤ θA13c ≤ 0.0143), that is |δ1 h23 | ≤ 0.0059, set
h23 = 0.0084 then |δ2 | ≤ 0.0059/h23 = 0.729. The same hold for h32 .
4
Coming
to the computation of h33
−δθ32 −δθ13
Ac ≤ 0.0059 + 0.0062 = 0.0121 or |δ3 h33 | ≤ 0.0121, set h33 =
−0.0169 then |δ3 | ≤ 0.0121/h33 = 0.715
Home work: Compute the remaining elements of H matrix
• component faults: there may be leakage in the tanks. For the purpose of
simulating leaks, each tank in the three tank system additionally has a
circular opening with cross section sl and a manually
√ adjustable
√ ball√valve
in series. These leaks may be modeled as θA1 2gh1 , θA2 2gh2 , θA3 2gh3
where θA1 , θA1 , θA1 are unknown and depend on the size of the leaks. It
is assumed, for simplicity that leaks occurre at the bottom of the tanks.
• component faults: pluggings between two tanks and in the letout pipe by
tank 2, which causes changes
p in Q13 , Q32 and Q20 and thus can p be modeled
by θA4 a1√s13 sgn(h1 −h3 ) 2g|h1 − h3 |, θA6 a3 s23 sgn(h3 −h2 ) 2g|h3 − h2 |,
θA5 a2 s0 2gh2 . Where θA4 , θA5 , θA6 ∈ [−1, 1]and are unknown.
• The actuator faults, i.e. the faults in pumps, can be simulated using
two other potentiometers which reduce the control signal up to 0% of its
origional value. These faults are represented by f5 and f6 .
We may incorporate the faults and disturbances in the state space realization
of the system as follows:
ẋ = (A + ∆AF )x + Bu + Ef f (1.6)
y = Cx + Ff f (1.7)
6
X
∆AF = Ai θAi
i=1
√−g 0 0
−0.0214 0 0
(Ac 2g|h10 |)
A1 = 0 0 0 = 0 0 0
0 0 0 0 0 0
5
0 0 0 0 0 0
0
A2 = √−g 0
= 0 0.0371 0
(Ac 2g|h20 |)
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0
A3 = = 0 0 0
0 0 √−g 0 0 −0.0262
(Ac 2g|h30 |)
6
Bibliography
[1] Amira, “Lab manual dts200 three tank system,” tech. rep., Bismarckstr. 67,
47057 Duisburg, Germany, 1992.
[3] L. Li and D. Zhou, “Fast and robust fault diagnosis for a class of nonlin-
ear systems: detectability analysis,” Computers and chemical engineering,
vol. 28, no. 12, pp. 2635–2646, 2004.
[6] L. Kovacs, E. Borbely, and Z. Benyo, “Optimal control of the three tank
system in h-2/h-infinity space,” in 5th Slovakian-Hungarian joint symposium
on Applied Machine intelligence and Informatics, Poprad, 2007.
[7] G. R., “Mixed sensivity h-infinity control of a three tank system,” in Amer-
ican Control Conference, 2005.