Lyapunov-based Model Predictive Control of Nonlinear Quadruple Tank System Using Constrained and Unconstrained Methods

Yektamoghaddam, Hossein; Jalalzad Mahvizani, Seyed Hamed; Nikoofard, Amirhossein; Salehizadeh, Mohammad Reza

doi:10.48308/ijrtei.2024.234542.1038

Lyapunov-based Model Predictive Control of Nonlinear Quadruple Tank System Using Constrained and Unconstrained Methods

Document Type : Research Article

Authors

Hossein Yektamoghaddam ¹

Seyed Hamed Jalalzad Mahvizani ²

Amirhossein Nikoofard ³

Mohammad Reza Salehizadeh ⁴

¹ School of Electrical and Computer Engineering, College of Engineering, University of Tehran, Tehran, Iran

² Department of Engineering, Sardar Jangal University, Rasht, Iran

³ Faculty of Electrical Engineering, K.N. Toosi University of Technology, Seyed-Khandan bridge, Shariati Ave., Tehran, Iran

⁴ Islamic Azad University- Marvdasht Branch, 3th kilometer of Takhte Jamshid Blvd, P. O. Box: 73711-13119, Marvdasht, Iran

10.48308/ijrtei.2024.234542.1038

Abstract

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.

Keywords

Nonlinear systems

Model predictive control

Nonlinear model predictive control

Barrier function-based model predictive control

Quadruple tank

Subjects