This example simulates two water tanks connected with output regulation using

QFIRE Studio

.

Introduction

Two water tanks connected can be described by the equation:

Where,

• $x_1$
  is the water level in tank 1.
• $x_2$
  is the water level in tank 2.
• $u$
  is the control action of the water flow.
• $\theta$
  is the pipe leakage.

Simulation

The following control law is able to stabilize the water level in these tanks:

Using the parameters a=1 and b=0.5, the closed-loop system can be modeled as in Figure 1.

The controller and the system are contained in the Subsystems shown in Figure 1. The diagrams of each subsystem are shown in Figure 2 and Figure 3.

Using 100s simulation, the time response of the tanks are described by Figure 4 and Figure 5.

Bibliographic References

[1] Ola Härkegårds,  

BACKSTEPPING AND CONTROL ALLOCATION WITH APPLICATIONS TO FLIGHT CONTROL

,  2003.