摘要：AbstractController design for hydraulic plants represents a task carried out frequently to demonstrate and compare properties of different nonlinear control approaches. This paper discusses the problem of applying the theoretical solution to the trajectory tracking problem, which is based on the feedback linearization techniques, in practice. It is shown that the theoretical solution is not sufficient in the case of parameter or model uncertainties, and an additional control loop is necessary. The respective modifications are proposed, and the results are demonstrated by the Matlab application on the real laboratory system of coupled tanks. The application can run locally as a simulation tool designed in Matlab/Simulink graphical user interface but also through the Internet as a virtual or remote laboratory.
