Design and implementation of the Kalman filter for the four-tank system process

This paper deals with the design and implementation of a Kalman filter for state estimation in a four-tank system process, which is a widely used multivariate system capable of displaying phase minimum and non-phase minimum behaviors. The main goal is to improve the system performance by accurately estimating the internal states (liquid levels in the tanks) in the presence of noise and disturbances. The Kalman filter is a state estimation algorithm used to estimate the state of a dynamic system in real time. The proposed method involves developing a state space model of the four-reservoir system for both minimum phase and non-minimum phase states and then designing a Kalman filter using the ‘lqe’ command in the MATLAB environment. To improve estimation accuracy and control efficiency, the effect of adding an integrator to the controller structure and modifying the filter bandwidth using singular value analysis (SVD) has been investigated. Simulation results show that the Kalman filter can provide accurate and stable estimates of system states.

کلیدواژه ها:

Four-tank system ، Kalman filter ، SVD analysis ، integrator