H[infinity] Loop Shaping Control for Quadruple Tank System

In this paper, the control system of quadruple tank is designed which is based on the structure of experimental facility of quadruple tank and the method of H∞ loop shaping control. Firstly, The system model of the quadruple tank are acquired with system identification. Then the pre- and post-compensation are selected to make the singular values of the nominal controlled system become the desired open-loop gain. Finally the H∞ loop shaping controller is designed base on the robust stabilization theory. The controller we have obtained will be reduced to the PID controller which is easy to implement. The final controller is firstly used in the simulink environment to get the simulation result. Then the result is verified on the experimental facility of quadruple tank, and the experimental waveforms indicates that the controller have good control performance and robust performance.