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Implementation of adaptive model predictive control on the quad tank system


Minnetian, Lawrence

Semester Thesis, FS 13 (10233)

A novel adaptive model predictive control technique for controlling constrained MIMO systems is tested on a quad tank system setup. The quad tank system is a challenging setup for adaptive control as it can exhibit non-minimum phase and non-linear behavior. The controller is implemented such that the given tank water level reference trajectories are followed for the different system configurations using output feedback and solving linear and quadratic programs in real time. Only loose bounds on the impulse response coefficients of the system have to be chosen initially, this is enough to have guaranteed satisfaction of input and output constraints during controller operation. The promising results of the experiments are illustrated and discussed. iii


Type of Publication:

(13)Semester/Bachelor Thesis

M. Tanaskovic

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% Autogenerated BibTeX entry
@PhdThesis { MinLaw:2013:IFA_4638
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