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This paper proposes a fresh state error feedback linearization control method with disturbance observer (DOB) and L2 gain for a quadruple-tank liquid-level system. Firstly, in terms of the highly nonlinear and strong coupling characteristics of the quadruple-tank system, a state error feedback linearization technique is employed to design the controller to achieve liquid-level position control and tracking control. Secondly, DOB is purposed to estimate uncertain exogenous disturbances and applied to compensation control. Moreover, an L2-gain disturbance attenuation technology is designed to resolve one class of disturbance problem by uncertain parameter perturbation existing in the quadruple-tank liquid-level system. Finally, compared with the classical proportion integration differentiation (PID) and sliding mode control (SMC) methods, the extensive experimental results validate that the proposed strategy has good position control, tracking control, and disturbance rejection performances.

Disturbance Observer and L2-Gain-Based State Error Feedback Linearization Control for the Quadruple-Tank Liquid-Level System