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Nonlinear Control of 4-tank process

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Controlling the 4-tank problem using a non linear controller

PlotTanks2(u)
function PlotTanks2(u)

t = u(5);

h1 = u(1);
h2 = u(2);
h3 = u(3);
h4 = u(4);

persistent ULPatch;
persistent URPatch;
persistent LLPatch;
persistent LRPatch;

PW = 25;     % piping width (just for visual)
bS = 1000;          % Half of the box size (just for visual)
vH = 100;    % valve height
vW = 60;    % valve width
tW = 500;    % Tank Width
tH = 700;    % Tank Height
D = 40;      % Distance between pipe and Tank

% Piping 1
% ----------------------------------


LeftPiping = [-bS, -bS; -bS, -vH/2; -bS+PW, -vH/2; -bS+PW,-bS];
    
LeftPipingSide = [-bS+PW/2+vH/2, 0; -bS/2, 0; -bS/2, -3*PW; -bS/2-PW, -3*PW; -bS/2-PW, -PW; -bS+PW/2+vH/2, -PW]; 

RightPiping = LeftPiping;
RightPiping(:,1) = -RightPiping(:,1);

RightPipingSide = LeftPipingSide;
RightPipingSide(:,1) = -RightPipingSide(:,1);

% Valves
% ----------------------------------



gamma = (vW - PW)/2;  % distance of the valve end from the pipe


LeftValve = [ -bS-gamma , 0-vH/2; -bS+PW+gamma, 0-vH/2; -bS+PW/2,0; ...
    -bS-gamma ,0+vH/2; -bS+PW+gamma, 0+vH/2; -bS+PW/2,0; -bS+PW/2+vH/2, vW/2; ...
    -bS+PW/2+vH/2, -vW/2; -bS+PW/2,0;-bS-gamma , 0-vH/2];

RightValve = LeftValve;
RightValve(:,1) = -RightValve(:,1);



% Piping 2 
% ------------------------------------

LeftPiping2 = [ -bS, vH/2 ;-bS, bS-(.1*bS); bS/2+PW, bS-(.1*bS); ...
    bS/2+PW, bS-(.1*bS)-3*PW; bS/2, bS-(.1*bS)-3*PW; bS/2, bS-(.1*bS)-PW; ...
    -bS+PW, bS-(.1*bS)-PW;-bS+PW, vH/2];

RightPiping2 = [ bS, vH/2 ;bS, bS; -bS/2-PW, bS; ...
    -bS/2-PW, bS-3.3*PW; -bS/2, bS-3.3*PW; -bS/2, bS-PW; ...
    bS-PW, bS-PW;bS-PW, vH/2];



RightPiping3 = [ -bS/2-PW, bS-(.1*bS)-3*PW ; -bS/2, bS-(.1*bS)-3*PW ; ...
    -bS/2, bS-(.1*bS)-1.5*PW ;-bS/2-PW, bS-(.1*bS)-1.5*PW; -bS/2-PW, bS-(.1*bS)-3*PW] ;
    



% Outline for the Tanks
% ---------------------------------------



LeftUpperTank = [-bS/2-PW-tW/2 ,bS-(.1*bS)-3*PW-D; -bS/2-PW+tW/2 , bS-(.1*bS)-3*PW-D; ...
    -bS/2-PW+tW/2 , bS-(.1*bS)-3*PW-D-tH;-bS/2-PW-tW/2 , bS-(.1*bS)-3*PW-D-tH;-bS/2-PW-tW/2 ,bS-(.1*bS)-3*PW-D];

RightUpperTank = LeftUpperTank;
RightUpperTank(:,1) = -RightUpperTank(:,1);


% short cut to create lower tanks

Beta = max(LeftUpperTank(:,2));
Const = Beta - (-3*PW - D);

RightLowerTank = RightUpperTank;
RightLowerTank(:,2) = RightLowerTank(:,2) - Const;

LeftLowerTank = LeftUpperTank;
LeftLowerTank(:,2) = LeftLowerTank(:,2) - Const;





%Pipes Connecting the upper tank to the lower tank
% ----------------------------------------------------


LeftConnector = [  -bS/2+3*PW , bS-(.1*bS)-3*PW-2*D-tH; -bS/2+3*PW+PW , bS-(.1*bS)-3*PW-2*D-tH;...
    -bS/2+3*PW+PW,bS-(.1*bS)-3*PW-Const; -bS/2+3*PW, bS-(.1*bS)-3*PW-Const; -bS/2+3*PW , bS-(.1*bS)-3*PW-2*D-tH];

RightConnector = LeftConnector;
RightConnector(:,1) = -LeftConnector(:,1);

% polygon representing water level
% ------------------------------------------

Space = 10;

% x points
xUL = [-bS/2-PW-tW/2+Space, -bS/2-PW+tW/2-Space];
xLL = xUL;
xUR = -xUL;
xLR = xUR;

% y points

yUL = [bS-(.1*bS)-3*PW-D-tH+Space+h1*(tH-2*Space),bS-(.1*bS)-3*PW-D-tH+Space];
yUR = [bS-(.1*bS)-3*PW-D-tH+Space+h2*(tH-2*Space),bS-(.1*bS)-3*PW-D-tH+Space];
yLL = [bS-(.1*bS)-3*PW-D-tH+Space+h3*(tH-2*Space),bS-(.1*bS)-3*PW-D-tH+Space];
yLL = yLL - Const;
yLR = [bS-(.1*bS)-3*PW-D-tH+Space+h4*(tH-2*Space),bS-(.1*bS)-3*PW-D-tH+Space];
yLR = yLR - Const;


xPolyUL = [xUL(1),xUL(2),xUL(2),xUL(1)];
yPolyUL = [yUL(1),yUL(1),yUL(2),yUL(2)];
xPolyUR = [xUR(1),xUR(2),xUR(2),xUR(1)];
yPolyUR = [yUR(1),yUR(1),yUR(2),yUR(2)];
xPolyLL = [xLL(1),xLL(2),xLL(2),xLL(1)];
yPolyLL = [yLL(1),yLL(1),yLL(2),yLL(2)];
xPolyLR = [xLR(1),xLR(2),xLR(2),xLR(1)];
yPolyLR = [yLR(1),yLR(1),yLR(2),yLR(2)];
z = [1,1,1,1];

if t == 0


figure(1),clf

% Form the plots, Use handles to change colors with operatin conditions
% -----------------------------------------------------------------------

hold on

% PLOTTIING For the structure 

% bottom piping (furthest upstream/connection to bottom tanks) [ Green is flowing, black is empty]
plot(LeftPiping(:,1),LeftPiping(:,2),'k',LeftPipingSide(:,1),LeftPipingSide(:,2),'k');
plot(RightPiping(:,1),RightPiping(:,2),'k',RightPipingSide(:,1),RightPipingSide(:,2),'k');

% Valves [ Color Convention] 
lValvePlot = plot(LeftValve(:,1),LeftValve(:,2),'g');
rValvePlot = plot(RightValve(:,1),RightValve(:,2),'g');

% Top piping (connection to the top tanks)
plot(LeftPiping2(:,1),LeftPiping2(:,2),'k');
plot(RightPiping2(:,1),RightPiping2(:,2),'k',RightPiping3(:,1), RightPiping3(:,2), 'k');

% Tanks 
plot(LeftUpperTank(:,1),LeftUpperTank(:,2),'k');
plot(RightUpperTank(:,1),RightUpperTank(:,2),'k');
plot(LeftLowerTank(:,1),LeftLowerTank(:,2),'k');
plot(RightLowerTank(:,1),RightLowerTank(:,2),'k');

% connection between upper and lower tanks
plot(LeftConnector(:,1),LeftConnector(:,2),'k');
plot(RightConnector(:,1),RightConnector(:,2),'k');

% Handles For Plotting for Tank Level 
ULPatch = fill(xPolyUL,yPolyUL,'c','EraseMode', 'Normal');
URPatch = fill(xPolyUR,yPolyUR,'c','EraseMode', 'Normal');
LLPatch = fill(xPolyLL,yPolyLL,'c','EraseMode', 'Normal');
LRPatch = fill(xPolyLR,yPolyLR,'c','EraseMode', 'Normal');

% Annotations 
% ---------------------------

ULy = (bS-(.1*bS)-3*PW-3*D)/1.5;
ULx = -bS;
URy = ULy;
URx = -ULx;
LLy = ULy - Const;

URx = URx/2.4;
LRy = LLy;
LRx = URx;

ULx = ULx/1.6;
LLx = ULx;

text(ULx,ULy,'Tank 3');
text(URx,URy,'Tank 4');
text(LLx,LLy,'Tank 1');
text(LRx,LRy,'Tank 2');

text(-bS-130,0,'\gamma 1');
text(bS+80,0,'\gamma 2');

axis([-1200,1200,-1100,1300])

else 
    


ULPatch = updatePlot(yPolyUL,ULPatch);
URPatch = updatePlot(yPolyUR,URPatch);
LLPatch = updatePlot(yPolyLL,LLPatch);
LRPatch = updatePlot(yPolyLR,LRPatch);
    
end



end


function handle =  updatePlot(y,handle)




set(handle,'Ydata',y);
%set(handle,'ColorSpec',[0 1 0]);

drawnow


end




% This function is pretty messy, but it is unimportant for any of the calcs
% this function is designed only to handly the presentation, if you want to
% make it look better.... good luck :) 


% polygon representing water level
% ------------------------------------------

%Space = 10;

% x points
%xUL = [-bS/2-PW-tW/2+Space, -bS/2-PW+tW/2-Space];
%xLL = xUL;
%xUR = -xUL;
%xLR = xUR;

% y points

%yUL = [bS-(.1*bS)-3*PW-D-tH+Space+h1*(tH-2*Space),bS-(.1*bS)-3*PW-D-tH+Space];
%yUR = [bS-(.1*bS)-3*PW-D-tH+Space+h2*(tH-2*Space),bS-(.1*bS)-3*PW-D-tH+Space];
%yLL = [bS-(.1*bS)-3*PW-D-tH+Space+h3*(tH-2*Space),bS-(.1*bS)-3*PW-D-tH+Space];
%yLL = yLL - Const;
%yLR = [bS-(.1*bS)-3*PW-D-tH+Space+h4*(tH-2*Space),bS-(.1*bS)-3*PW-D-tH+Space];
%yLR = yLR - Const;

%xPolyUL = [xUL(1),xUL(2),xUL(2),xUL(1)];
%yPolyUL = [yUL(1),yUL(1),yUL(2),yUL(2)];
%xPolyUR = [xUR(1),xUR(2),xUR(2),xUR(1)];
%yPolyUR = [yUR(1),yUR(1),yUR(2),yUR(2)];
%xPolyLL = [xLL(1),xLL(2),xLL(2),xLL(1)];
%yPolyLL = [yLL(1),yLL(1),yLL(2),yLL(2)];
%xPolyLR = [xLR(1),xLR(2),xLR(2),xLR(1)];
%yPolyLR = [yLR(1),yLR(1),yLR(2),yLR(2)];
%z = [1,1,1,1];



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