Decentralized Robust Control of Nonlinear Coupled Tanks Systems

This paper designs a decentralized control strategy for the coupled tanks systems with prescribed performance. The prescribed performance means that the levels track given references with the arbitrarily predefined speed of response, overshoot, and accuracy. To ensure that the overshoot does not exceed the specified value, asymmetric performance boundaries are used and then transformed into symmetric performance boundaries by a symmetric transformation. Then, a barrier function is used to constrain the error within the performance boundaries. The resulting decentralized control strategy ensures the prescribedperformance and the boundness of all the closed-loop signals. The control strategy is verified through the simulation result.