Tank level control is ubiquitous in industry. The focus of this paper is on accurate\nliquid level control in single tank systems which can be actuated continuously\nand modulation of the level setpoint is also required, for example in\ncascade control loops or supervisory Model Predictive Control (MPC) applications.\nTo avoid common problems encountered when using fixed gain or\nadaptive/gain scheduled schemes, an accurate technique based around feedback\nlinearization and Proportional Integral (PI) control is introduced. This\nsimple controller can maintain linear performance over the full operating\nrange of a uniform tank. As will be demonstrated, the implementation overhead\ncompared to a regular PI controller is negligible, making it ideal for industrial\nimplementation. Implementation details and parameter identification\nfor adaptive implementation are discussed. Simulations coupled with experimental\nresults using a large-scale laboratory level control system using commercial\nindustrial control equipment validate the approach, and illustrate its\neffectiveness for both level tracking and disturbance rejection.
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