Abstract
Interconnection and damping assignment passivity-based control (IDA-PBC) is a recently developed method for nonlinear controller design. A majority of the examples of IDA-PBC found in literature are from the electro-mechanical domain. To show its applicability in other domains, in this work IDA-PBC is used to design a stabilizing controller for a process control example, the four-tank system. Both simulations and real experiments are provided for this example system.
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Johnsen, J.K., Allöwer, F. (2007). Interconnection and Damping Assignment Passivity-Based Control of a Four-Tank System. In: Allgüwer, F., et al. Lagrangian and Hamiltonian Methods for Nonlinear Control 2006. Lecture Notes in Control and Information Sciences, vol 366. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-73890-9_8
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DOI: https://doi.org/10.1007/978-3-540-73890-9_8
Publisher Name: Springer, Berlin, Heidelberg
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