LAUSR

A novel input/output feedback linearization control method by utilizing nonlinear disturbance observer (NDOB) is proposed for a quadruple-tank liquid level (QTLL) system in this paper. Firstly, the mathematical model of QTLL system is established by using Bernoulli's law and mass conservation. Secondly, in view of the nonlinear and coupling characteristics of the QTLL system, a input/output feedback linearization controller is designed. Then, a NDOB is proposed to estimate disturbances and applied to compensation control. Finally, simulation and experimental results show that the proposed strategy has better control performances than PID control and the disturbance observer-based sliding mode control (DOBSMC).