Decentralized Control Based on Active Disturbance Rejection Controller: an Application Quadruple Tank System
Alyaseh Nagi1, Issa Ali2, Sedat Nazlibilek3

1Alyaseh Nagi, Department of Mechatronics Engineering, Atılım University, Ankara, Turkey.
2Issa Ali, Department of Mechatronics Engineering, Atılım University, Ankara, Turkey.
3Assoc Prof. Sedat Nazlibilek, Department of Electrical and Electronics Engineering, Ankara, Baskent University, Turkey.
Manuscript received on 15 December 2016 | Revised Manuscript received on 21 December 2016 | Manuscript Published on 30 December 2016 | PP: 20-25 | Volume-6 Issue-7, December 2016 | Retrieval Number: G2407126716/16©BEIESP
Open Access | Editorial and Publishing Policies | Cite | Mendeley | Indexing and Abstracting
© The Authors. Blue Eyes Intelligence Engineering and Sciences Publication (BEIESP). This is an open access article under the CC-BY-NC-ND license (

Abstract: This paper presents Decentralized Control for the Quadruple Tank System (QTS) Based on Active Disturbance Rejection Controller (ADRC). The most remarkable advantages of the proposed approach are that it is not depend on the accuracy of mathematical model of the plant along with its simple structure and the ability of strong disturbance rejection. Often, there are some difficulties in designing of suitable controller for Quadruple Tank System due to the interaction between the inputs and outputs of this system. With the proposed control method, the cross coupling within the system treated as a disturbance, which is estimated using extended state observer (ESO) and then actively rejected. The Quadruple Tank System is represented using set of nonlinear differential equations and the ADRC controller is applied directly on the nonlinear model of the system. The effectiveness of the proposed approach is validated via simulation results obtained under MATLAB environment. The results show that the ADRC gives better results compared to nonlinear optimal control strategy.
Keywords: Active Disturbance Rejection Controller, Decentralized Control, Quadruple Tank System, The Nonlinear Coupling.

Scope of the Article: Big Data Analytics Application Systems