H_∞-Robust Optimal Controller with Integral Action for a Coupled Tank System

Abstract

The design of an H_∞-optimal controller incorporating integral action via polynomial approach for a coupled tank system and a PC based implementation are described. The suboptimal H_∞-controller obtained via state space method is reduced to an optimal controller with the insight obtained from the polynomial approach. The choice of the weighting functions for H_∞—optimal controller, advantages and limitations of state space and polynomial techniques are discussed in full detail.

Indexing Terms:

• H_∞-optimal controller
• Integral action
• Polynomial approach
• Coupled lank system