Experimentation with an adaptive waterfall controller with disturbance effect

The control systems whose output variable is slow requires more efficient control actions, in this line, there are the cascade-type controllers, which prevent the disturbances in the input of the process from manifesting in the output, currently the analysis are reflected in many investigations, but in a simulated way, and there are a few studies where the implementation is carried out at the didactic level, which allows to perform the verification of the simulations, and to observe the effect that this type of control has when is going to work in a real way, so we can prove the theories and affirmations of the scientific community. In this research, we complete the development of an adaptive cascade-type controller in the two control loops, in a didactic equipment that allows perturbations. To achieve the objectives, we obtained the mathematical modeling of the system, the controllers were designed, the control algorithm is implemented in a plant, whose variables are level and flow, and the effect that these controllers have on perturbations that are made to the process variables. During the implementation of the control algorithm, it was possible to verify that these types of controllers cause that the perturbations that are made at the input of the process were minimun reflected in the output variable.