Internal model based v-norm decoupling control for Four Tank system

In this paper, an Internal Model Based VNorm Decoupling Control is proposed for a Four Tank system. The system is a 2×2 multivariable one with non-negligible time delays. For this purpose, an Internal Model Controller is designed using v-norm decoupling. Here, setpoint tracking, disturbance rejection, decoupling and robustness with respect to parametric uncertainty are demonstrated using simulations. Also, Gershgorin Bands are used for inspecting the degree of decoupling before and after compensation of the system.