Fractional Transformation-Based Decentralized Robust Control of a Coupled-Tank System for Industrial Applications

Muhammad Z.U. Rahman, Victor Leiva, Asim Ghaffar, Carlos Martin-Barreiro, Aashir Waleed, Xavier Cabezas, Cecilia Castro

Research output: Contribution to journalArticlepeer-review


Petrochemical and dairy industries, waste management, and paper manufacturing fall under the category of process industries where flow and liquid control are essential. Even when liquids are mixed or chemically treated in interconnected tanks, the fluid and flow should constantly be observed and controlled, especially when dealing with nonlinearity and imperfect plant models. In this study, we propose a nonlinear dynamic multiple-input multiple-output (MIMO) plant model. This model is then transformed through linearization, a technique frequently utilized in the analysis and modeling of fractional processes, and decoupling for decentralized fixed-structure H-infinity robust control design. Simulation tests based on MATLAB and SIMULINK are subsequently executed. Numerous assessments are conducted to evaluate tracking performance, external disturbance rejection, and plant parameter fluctuations to gauge the effectiveness of the proposed model. The objective of this work is to provide a framework that anticipates potential outcomes, paving the way for implementing a reliable controller synthesis for MIMO-connected tanks in real-world scenarios.

Original languageEnglish
Article number590
JournalFractal and Fractional
Issue number8
StatePublished - Aug 2023


  • Bernoulli principle
  • H-infinity control design
  • MATLAB mixsyn
  • flow rates
  • fluid study
  • linear time invariant system
  • liquid levels
  • optimization problem
  • system linearization


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