Nonlinear constrained predictive control applied to a coupled-tanks apparatus

The focus of the paper is the development and application to experimental equipment of fast constrained predictive control algorithms based on feedback linearisation. Rather than use quadratic programming (QP) optimisation is performed, deploying a computationally much cheaper alternative based on interpolation and linear programming (LP). Despite its undemanding computational nature, this algorithm is found to perform well both in simulation, and when applied to an actual couple-tanks rig. The advantages of the algorithm are further illustrated by comparison with PID control