Description of control laboratory multivariable experiment: "MARTS"

Describes a graduate student laboratory experiment called "MARTS" (multivariable apparatus for real time control studies), which has been in use at the Systems Control Group, University of Toronto since 1985. The laboratory experiment is unique in that it uses industrial commercial process control sensors/actuators for its hardware, and thus when problems arise in controller implementation on MARTS, students cannot invoke the usual excuse that inadequate or faulty university sensor/actuator equipment is to blame. The paper describes the experimental apparatus, the control problem specifications to be carried out on the apparatus, mathematical modelling of the system, typical control experiments which have been carried out on the system using both conventional and unconventional controllers, and features which make the control laboratory experiment challenging.