基于非线性静态反馈解耦的三容系统PI控制

三容系统实验台是模拟多容器流程系统的多输入多输出、时变、强耦合、非线性的实验系统。采用一种基于非线性静态反馈的解耦方法进行三容实验系统的液位控制，当系统满足一定的务件时，可以寻找到一个输出与等效新输入之间的线性微分方程关系，然后再选择合适的状态反馈形式即可使该非线性系统解耦。经解耦，三容系统可分解为两个相互独立的单输入单输出线性子系统，对每个这样的子系统可以采用PI控制。给出了应用的实验结果和与没有使用解耦的PI控制方法的比较：

PI Control of Three-tank System Based on Nonlinear Static Feedback Decoupling

Three-tank system is a typical MIMO and I/O coupled nonlinear system, which represents multi-tank systems in chemical industry well. A nonlinear decoupling algorithm is proposed via static feedback to control the water level of this system. When some conditions hold, a linear differential relation between the outputs and new inputs can be found, then choosing appropriate state feedback can make the system decoupled. By decoupling, the three-tank system can be divided into some independent, linear SISO subsystems, for each of them we can use the Pi-controller. Experimental results are presented and compared to that of the no-decoupling PI controller.