Real time parameter estimation and experimental validation of adaptive self-tuning regulator for the liquid level control process

This paper presents self-tuning control design problem for a coupled tank liquid level system that often used in industry. An auto regressive with exogenous (ARX) model has been used as the liquid process model with the self-tuning control implementation due to the flow between tank problem and varying system dynamics. The parameters of designing model have been calculated by using on-line recursive least square method with the forgetting factor algorithm. Additionally, to verify the effectiveness of the proposed model and control algorithm, detailed experimental was realized.