Lyapunov-based Model Predictive Control of Nonlinear Quadruple Tank System Using Constrained and Unconstrained Methods
نویسندگان
1 Islamic Azad University- Marvdasht Branch, 3th kilometer of Takhte Jamshid Blvd, P. O. Box: 73711-13119, Marvdasht, Iran
2 School of Electrical and Computer Engineering, College of Engineering, University of Tehran, Tehran, Iran
3 Department of Engineering, Sardar Jangal University, Rasht, Iran
4 Faculty of Electrical Engineering, K.N. Toosi University of Technology, Seyed-Khandan bridge, Shariati Ave., Tehran, Iran
doi
10.48308/ijrtei.2024.234542.1038چکیده
Model predictive control is a widely utilized advanced control technique in industrial settings, valued for its capacity to effectively manage complex multi-input multi-output processes while optimizing process performance. Lyapunov-based model predictive control of Nonlinear Systems is a method that incorporates the objective function as a suitable Lyapunov function, thereby ensuring stability of the nonlinear system. This study involves the modeling of a nonlinear system to the Lyapunov function and the analysis of a quadruple tank using nonlinear model predictive control and barrier function-based model predictive control algorithms. Additionally, a comparison is made between a PID controller and a well-established industrial controller to evaluate the performance of the nonlinear quadruple tank, with the findings indicating satisfactory results.
