Discrete-Time Solution to the Disturbance Decoupling Problem of Coupled Tanks

Mathematical technicalities, involved in the modern theory of non-linear control systems, many times prevent a wider use of the impressive theoretical results in practice. Attempts to overlap this gap between theory and practice are usually more than welcome and form the main scope of our interest in this work. An important control problem given by the disturbance decoupling is studied for a real laboratory model of coupled tanks. Since the theoretical solution to the disturbance decoupling problem does not satisfy practical control requirements it is modified accordingly. Experiments on the real plant are included as well and show that the disturbances practically do not affect the system output.