Takagi-Sugeno Convex Compensator Design for a Nonlinear System on Real-Time

This paper shows the Takagi-Sugeno convex compensator design for a class of nonlinear systems, that consists of a two interconnected tanks liquid level system for which the levels are controlled through two electro-valves, by means of the convex controller; for the purpose of further work to perform fault diagnosis, the design of a Takagi-Sugeno convex observer is tested. The gain scheduling functions used are calculated by mean the concept of the local sector nonlinearity condition. For the stability analysis of the linear subsystems and the computation of the compensator gains, the interior point method is used in the solution of Linear Matrix Inequalities (LMI’s), including a proposal to bound the gains. The contribution of the present work is that the design of the compensator was successfully tested in real-time experimentation using Arduino-Matlab® and simulation using Matlab-Simulink®.