Design Of Control System Of Quadruple-tank Based On H_∞Loop Shaping

In this paper, the main work is combining the H∞loop shaping of robust control and the multiple models adaptive control which are applied to the design of the control system of quadruple-tank. First it introduces the relevant knowledge of quadruple-tank experiment device and robust control, then identify the double input and output mathematical model based on the appropriate working point which is already selected. After that the pre-compensation and post-compensation are selected to make the singular values of the nominal controlled system become the desired open-loop gain,which is on the basis of H∞loop shaping design method.Finally design the H∞loop shaping controller according the principle of robust stabilization and the controller we have obtained will be reduced to the PID controller which is easy to implement. The final controller is firstly used in the simulation environment to get the simulation result. The result then is verified on the experimental facility of quadruple-tank.Finally four typical working points are selected on the basis of the structure of experimental facility of quadruple-tank and work scope.and robust PID controller is designed according to the mathematical model of the four typical working point which is local controller.The multiple models robust PID controller is made up of the local controller in the form of weighted.The control effect of simulation results is better than the robust PID controller under a single model.This paper mainly studies the H∞robust controller design method of multiple variable system,and design the multiple models H∞robust controller based on this method and quadruple-tank experiment device system structure.It is easy to be realized in industrial process control and also has certain role and reference value for the application of advanced control methods in the actual process.