Data-driven model reference control of MIMO vertical tank systems with model-free VRFT and Q-Learning

Control system with direct Multi Input-Multi Output (MIMO) Batch fitted Q-learning-based controller (black), SISO Virtual Reference Feedback Tuning controllers (magenta) and model-based Value Iteration MIMO controller (blue): a) control inputs u1; b) y1d (red); c) control inputs u2; d) y2d (red).250