A Novel Partial Decoupling Control for Three-Tank Liquid Level System

This work investigates a novel partial decoupled control based on Port-Controlled Hamiltonian (PCH) model for three-tank liquid level system. Different from the traditional decoupling control, which is mainly in frequency domain, the method proposed in this paper is implemented directly in time domain. According to the specific requirements of liquid level system control objectives, partial decoupling control is realized by a simply transform. In order to prove the stability, PCH principle is introduced. The simulation results compared with the traditional PCH method illustrate the good performance of the proposed algorithm.