三水箱多变量液位控制实验设计

Design of Several multi-variable experiments on three tank liquid-level control system and the controllability and obervability

三容水箱液位控制实验系统是一种非线性、强耦合、多变量和大滞后的复杂系统。该文首先介绍三容水箱液位控制实验系统的实物系统装置，然后设计了几种典型的多变量液位控制实验，并给出了被控对象的数学模型，最后对上述系统被控对象的能控性和能观性进行了分析。

This paper addresses the three tank liquid- level control system, which is a nonlinear, strong coupled, multi- variable and complex system with large delay. First, the hardware system of three tank liquid- level control system was introduced. Then, several typical multi- variable level control experiments on three tank liquid- level control system were designed. Afterwards, the mathematical models of three tank system under control were given. At last, the controllability and observability of them were verified.