Observer-based active fault tolerant control of a three tank system (DTS-200)

Abstract

Multi Input Multi Output (MIMO) systems theory is concerned with complex dynamical systems with multiple input(control) variables ur that regulate multiple output variables ym . In general, a MIMO system is a collection of independent or interconnected Single Input Single Output (SISO) subsystems that can be conditionally represented. The system’s separate subsystems are referred to as direct (or forward path) channels, and each one establishes a connection between the appropriate scalar input and output. This project deals with nonlinear multivariable system control; the work will begin with linearizing the model around a suitable equilibrium point and extracting the system’s transfer function matrix representation. The RGA will be used to select the optimal pairings, and two observers will be designed to estimate the states and decouple disturbance and noise. The system will be infl uenced by two types of faults under the scope of Fault Tolerant Control: actuator faults and sensor faults, both abrupt and random faults are estimated. Finally, P and PI controllers are used to design the system’s regulation and tracking mode responses in order to improve system performance, particularly settling time. A simulation under Matlab Simulink will be carried on to simulate and control the system.