Mohammad Hasan Olyaei Torqabeh - Faculty of Electrical Engineering, Sadjad University of Technology, Mashhad, Iran
Amin Noori - Faculty of Electrical Engineering, Sadjad University of Technology, Mashhad, Iran

This paper discusses the multivariable Quadruple-Tank system. This system consists of 4 tanks containing some liquid that are interconnected. The system output is the Height of tanks 1 and 2, and the system input is the voltage value of pump 1 and 2. Due to the design the controller for the Multi-Input Multi-Output (MIMO) system, the system first decoupled and then two STR controllers were designed to Track the desired height in Tanks 1 and 2. The simulation of this problem and controller design have been done by MATLAB software. After designing the controller, the disturbance and noise added to the system, and the performance of the system in the presence of uncertainty is also examined. Finally, the simulation results indicate that the closed loop system, maintains its stability and can adapt itself to track the desired amount

MIMO System, STR Controller, Decoupling, Quadruple-Tank