Model predictive control of a quadruple tank level system

Abstract

This dissertation dealt with the design and implementation of a Model Predictive Control (MPC) algorithm applied to a Quadruple Tank System (QTS) with the objective being to keep the output liquid levels constant. Project sub-objectives included the design and manufacturing of the physical quadruple tank system and the design of classical Proportional Integral controllers with which to compare the performance of the MPC algorithm. Hardware interfacing was carried out through the dSpace 1104 Development board.

The dissertation presents an outline of the theoretical background behind both MPC and the QTS, and went on to detail the design of the MPC controller based on a linearised state space model of the system. The results of a series of experiments conducted in simulation and verified on a physical QTS were also presented. Ultimately the project objectives were met, and the MPC controller was complemented with observers in the form of a Luenberger observer and a Kalman Filter, the design of each of which is also detailed in the dissertation.