摘要：AbstractThis paper offers an extension of previously developed Matlab/Simulink tool for computer support of the controller design with input constraints applied to different configuration of nonlinear hydraulic plants. The recently released application can run locally, or through the Internet as a virtual laboratory. The newly developed options extend the existing configurations of the hydraulic plant by the case of three-tank system with feedback control respecting control constraints. The designed Matlab/Simulink interface enables also to include a nonlinear disturbance observer and compare the influence of disturbances and parameter uncertainties. The developed application with all the previous configurations included now represents a complex tool for learning support of a constrained nonlinear control system design.
