Output Feedback Reference Tracking for Constrained Linear Systems via Invariant Sets: the Coupled Tanks Process

EasyChair Preprint 15926

Abstract

The design of a practical output feedback controller applied to the constant reference tracking problem for constrained linear discrete-time systems via set-invariance techniques is presented. In this regard, Output-Feedback Controlled-Invariant (OFCI) Polyhedra are used to ensure that state and input constraints are satisfied at all times. A common coupled tanks process that consists of two interconnected water tanks is used. Based on the measured output and on the linearized dynamics of the system, a suitable control sequence is computed via linear programming such that reference tracking for the real system under constraints is achieved. The practical results show that the control objective is fulfilled and illustrate performance limitations due to the use of a model approximation and the measurement noise.

Keyphrases: constraints, coupled tanks, invariant sets, linear systems, output feedback, reference tracking

@booklet{EasyChair:15926,
  author    = {Matheus Rodrigues and Glauber Leite and Ícaro Araújo and Tiago Almeida and Carlos Dórea},
  title     = {Output Feedback Reference Tracking for Constrained Linear Systems via Invariant Sets: the Coupled Tanks Process},
  howpublished = {EasyChair Preprint 15926},
  year      = {EasyChair, 2025}}