Multivariable control of the coupled four-tank system

Mahematical model and LQR design for four acopled tanks.

For the purpose of studying multivariable systems and controller design, the problem of four coupled tanks is considered at a certain point of operation. This system is suitable for the study of linear and nonlinear controllers and exhibits minimum and non-minimum phase behavior when linearized. This behavior is verified by changing the position of the configuration valve. For the design of the controllers, the LQR control technique is used.