Adaptive Disturbance Attenuation Control of Two Tank Liquid Level System With Uncertain Parameters Based on Port-Controlled Hamiltonian

This paper investigates the problem of the level control for two tank liquid level system(TTLLS) with parametric uncertainties and lumped disturbances. It is achieved by a novel adaptive disturbance attenuation control method based on the Port-Controlled Hamiltonian (PCH) model. Firstly, the model of TTLLS is established according to the mass balance principle and the PCH model is achieved. Based on the PCH model, the PCH controller of TTLLS is designed and the stability of the closed-loop system is ensured. To reduce the impact of disturbances and unmeasurable parameters, adaptive L
₂
disturbance attenuation technology is integrated. To achieve the robustness and simplify the calculation, the parameter estimation vector is designed by splitting complex mathematical expressions. Utilizing the properties of the PCH method and merits of the adaptive disturbance attenuation technology, the integrated controller achieves good performance. Moreover, simulation and experimental results are given to show the effectiveness and strong robustness of the proposed control algorithm.