A New Look at Water Tanks Systems as Control Teaching Tools

In this paper dynamics of a single as well as of two builds of double tanks systems are studied in more depth than usually A normalization which makes mathematical description independent of a particular system dimensioning is proposed. A new approach to PI/PID controller design, aimed at attaining higher dynamical accuracy is presented for considered systems. An influence of particular dynamics of the coupled tanks apparatus on controller settings and control system behavior is studied. Conclusions concerning a teaching significance of these systems and design methods applied are drawn.