Abstract
This paper deals with a new approach to the control design for a third-order nonlinear plant with time-delays. Starting from a pole-assignment proportional-derivative controller for the triple-integrator plant generalized for a constrained control and equiped by a gain scheduling to respect the nonlinear plant dynamics, its structure is used for a dynamical feedforward control that is extended by a nonlinear disturbance observer taking into account filtration of noisy signals and the non-modelled time-delays always present in control circuits. By using an example of a three-tank liquid level control in a hydraulic plant, performance of the resulting two-degree-of-freedom model reference control of nonlinear time-delayed systems with an integral action will be evaluated.
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References
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Acknowledgments
This work has been partially supported by the grants VEGA 1/0937/14 and APVV-0343-12.
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Bisták, P. (2018). Dynamical Feedforward Control of Three-Tank System. In: Moreno-Díaz, R., Pichler, F., Quesada-Arencibia, A. (eds) Computer Aided Systems Theory – EUROCAST 2017. EUROCAST 2017. Lecture Notes in Computer Science(), vol 10671. Springer, Cham. https://doi.org/10.1007/978-3-319-74718-7_16
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DOI: https://doi.org/10.1007/978-3-319-74718-7_16
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