Nonlinear Control of Liquid Level

The paper shows organization and overview of assignments on nonlinear P and PI control of the liquid level in a single tank associated with exact linearization, its modification considering nonmodelled dynamics and nonlinear disturbance-observer (DO) based integral action. The assignments are based on the “learning by doing” and the “learning by experimenting” paradigms carried out in a quasi-authentic framework with a quasi-real plant. The laboratory model of coupled tanks system is introduced which can be used also for more complex tasks.