Experimental comparison of passivity-based controllers for the level regulation of a conical tank

Juan Carlos Travieso-Torres; Manuel A. Duarte-Mermoud; Orlando Beytia

doi:10.1109/ICA-ACCA.2016.7778487

Experimental comparison of passivity-based controllers for the level regulation of a conical tank

Juan Carlos Travieso-Torres
, Manuel A. Duarte-Mermoud
, Orlando Beytia

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

5 Scopus citations

Abstract

The techniques of adaptive passivity-based controller (APBC) and non-adaptive passivity-based controller (PBC), together with a PI controller, are applied to the level regulation of a conical tank. A comparative study considering the controller designs and experimental results is presented. A single APBC and PBC are designed for the whole operational range of the plant; whereas a PI controller with three different settings is used for level regulation at low, medium, and high operating points. The APBC design is simpler than the designs of PBC and the PI techniques, since no knowledge of the plant parameters is needed. Also, APBC is the only one showing robustness under variations of a plant parameter.

Original language	English
Title of host publication	2016 IEEE International Conference on Automatica, ICA-ACCA 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781509011476
DOIs	https://doi.org/10.1109/ICA-ACCA.2016.7778487
State	Published - 8 Dec 2016
Externally published	Yes
Event	2016 IEEE International Conference on Automatica, ICA-ACCA 2016 - Curico, Chile Duration: 19 Oct 2016 → 21 Oct 2016

Publication series

Name	2016 IEEE International Conference on Automatica, ICA-ACCA 2016

Conference

Conference	2016 IEEE International Conference on Automatica, ICA-ACCA 2016
Country/Territory	Chile
City	Curico
Period	19/10/16 → 21/10/16

Keywords

adaptive control
conical tank
nonlinear control systems
Nonlinear systems
passivity-based control

Access to Document

10.1109/ICA-ACCA.2016.7778487

Cite this

Travieso-Torres, J. C., Duarte-Mermoud, M. A., & Beytia, O. (2016). Experimental comparison of passivity-based controllers for the level regulation of a conical tank. In 2016 IEEE International Conference on Automatica, ICA-ACCA 2016 Article 7778487 (2016 IEEE International Conference on Automatica, ICA-ACCA 2016). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICA-ACCA.2016.7778487

Travieso-Torres, Juan Carlos ; Duarte-Mermoud, Manuel A. ; Beytia, Orlando. / Experimental comparison of passivity-based controllers for the level regulation of a conical tank. 2016 IEEE International Conference on Automatica, ICA-ACCA 2016. Institute of Electrical and Electronics Engineers Inc., 2016. (2016 IEEE International Conference on Automatica, ICA-ACCA 2016).

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title = "Experimental comparison of passivity-based controllers for the level regulation of a conical tank",

abstract = "The techniques of adaptive passivity-based controller (APBC) and non-adaptive passivity-based controller (PBC), together with a PI controller, are applied to the level regulation of a conical tank. A comparative study considering the controller designs and experimental results is presented. A single APBC and PBC are designed for the whole operational range of the plant; whereas a PI controller with three different settings is used for level regulation at low, medium, and high operating points. The APBC design is simpler than the designs of PBC and the PI techniques, since no knowledge of the plant parameters is needed. Also, APBC is the only one showing robustness under variations of a plant parameter.",

keywords = "adaptive control, conical tank, nonlinear control systems, Nonlinear systems, passivity-based control",

author = "Travieso-Torres, \{Juan Carlos\} and Duarte-Mermoud, \{Manuel A.\} and Orlando Beytia",

note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 2016 IEEE International Conference on Automatica, ICA-ACCA 2016 ; Conference date: 19-10-2016 Through 21-10-2016",

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Travieso-Torres, JC, Duarte-Mermoud, MA & Beytia, O 2016, Experimental comparison of passivity-based controllers for the level regulation of a conical tank. in 2016 IEEE International Conference on Automatica, ICA-ACCA 2016., 7778487, 2016 IEEE International Conference on Automatica, ICA-ACCA 2016, Institute of Electrical and Electronics Engineers Inc., 2016 IEEE International Conference on Automatica, ICA-ACCA 2016, Curico, Chile, 19/10/16. https://doi.org/10.1109/ICA-ACCA.2016.7778487

Experimental comparison of passivity-based controllers for the level regulation of a conical tank. / Travieso-Torres, Juan Carlos; Duarte-Mermoud, Manuel A.; Beytia, Orlando.
2016 IEEE International Conference on Automatica, ICA-ACCA 2016. Institute of Electrical and Electronics Engineers Inc., 2016. 7778487 (2016 IEEE International Conference on Automatica, ICA-ACCA 2016).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - The techniques of adaptive passivity-based controller (APBC) and non-adaptive passivity-based controller (PBC), together with a PI controller, are applied to the level regulation of a conical tank. A comparative study considering the controller designs and experimental results is presented. A single APBC and PBC are designed for the whole operational range of the plant; whereas a PI controller with three different settings is used for level regulation at low, medium, and high operating points. The APBC design is simpler than the designs of PBC and the PI techniques, since no knowledge of the plant parameters is needed. Also, APBC is the only one showing robustness under variations of a plant parameter.

KW - adaptive control

KW - conical tank

KW - nonlinear control systems

KW - Nonlinear systems

KW - passivity-based control

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Travieso-Torres JC, Duarte-Mermoud MA, Beytia O. Experimental comparison of passivity-based controllers for the level regulation of a conical tank. In 2016 IEEE International Conference on Automatica, ICA-ACCA 2016. Institute of Electrical and Electronics Engineers Inc. 2016. 7778487. (2016 IEEE International Conference on Automatica, ICA-ACCA 2016). doi: 10.1109/ICA-ACCA.2016.7778487

Experimental comparison of passivity-based controllers for the level regulation of a conical tank

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