Robust evolving control of a two-tanks pilot plant

This paper presents a practical implementation of the robust evolving controller RECCo for a two-tank pilot plant. The RECCo algorithm is a fuzzy PID type of controller and starts with empty parameters which are adapted in an online manner. Also the fuzzy cloud-based structure of the controller is initialized with the first data point received and evolves during time. The algorithm was additionally improved with introducing a protection of integral saturation (anti windup), which was necessary for this type of process. A real two-tank pilot plant was used to test the effectiveness of the controller. The process represents a real industrial environment through the OLE for Process Control (OPC) communication protocol. It has been demonstrated that the algorithm is capable of controlling the plant using the default values of the design parameters.