Artículo de revista
Taylor polynomial approximation and adaptive passivity-based control applied to the level regulation of a conical tank
Asian Journal of Control 19 (5): 1722-1730
Travieso Torres, Juan Carlos
Duarte Mermoud, Manuel
Beytia Cancino, Orlando
The techniques of Taylor polynomial approximation (TPA) and adaptive passivity-based controller (APBC) are combined in this study and applied to the level regulation of a conical tank. The design and comparative experimental results with a classical PI controller are presented. After combining these two approaches a robust adaptive controller named TPA-APBC, which is simpler than the classical APBC and PI controller, is obtained. This new TPA-APBC preserves the stability of the overall system after assuming that the nonlinear system is unknown and that it can be suitably represented by a first-order linear model with unknown parameters.