Abstract— This report proposes a design methodology for cascaded model-free fuzzy control systems. The ordinary Mamdani approach is modified in order to use expert knowledge for variable set-point control without any need of the system model. The methodology is successfully tested in a sub-actuated, naturally delayed setup, known as the coupled tanks system, where the water level is maintained at different set points, both in simulation and in real time.
Keywords— Cascade Systems, Coupled Tanks, Fuzzy Control, Variable Set Point Control.
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