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Dual Tank Level MPC

Develop a model predictive controller (MPC) to reach a level set point for tank 2 (e.g. 50% full, level=0.5), initially starting from empty tanks. Tune the controller for satisfactory performance with setpoint changes in the level or with disturbances to the valve position (gamma1). Demonstrate the control performance and discuss methods used to achieve satisfactory control during startup from empty and with valve position changes (show both of these). A pump transports water to tank 1 where it drains to tank 2. Both tanks have an opening at the bottom that allows liquid to flow out. A valve is used to divert pumped liquid into tank 1 (valve position=0), into tank 2 (valve position=1) or fractionally into both (valve position 0-1). The valve position is not available to the controller as a measurement and is considered a disturbance to the process. Only the level of tank 2 (bottom tank) is available as a measured value. The pump rate can be manipulated between 0 and 1. The pump has a maximum rate of change of 0.1 every second. See http://apmonitor.com/do/index.php/Mai... for source code solutions in MATLAB and Python.