Controle não baseado em modelo utilizando estimadores algébricos aplicado a um sistema de tanques qúadruplos

This paper presents an application of a model-free control for a quadruple tank system. Such a system is multivariable and has characteristics of its multivariable zero depending on the opening of the valves. The control is based on an ultra-local model determined by algebraic estimators in a short time window. The control scheme is tested in simulations considering three different cases. Satisfactory results were obtained even for a time-varying case.