Multivariable control of sextuple tank system with non-minimum phase dynamics

In this paper we present experimental results of a multivariable linear predictive control strategy applied to a coupled, non-minimum phase dynamics system of six coupled water tanks with 3 controlled water levels (cm) and 3 manipulated pump outputs (V). The setup can be considered as three interacting sub-systems, with coupled dynamics due to the specific water flow directions. The experimental results indicate that the proposed strategy is robust to significant modelling errors, while maintaining good performance.