Output-feedback control of viscous liquid–tank system and its numerical approximation

We solve the output-feedback stabilization problem for a tank with liquid modeled by viscous Saint-Venant PDE system. The control input is acceleration of and Control Lyapunov Functional methodology used. measurements are position level at walls. scheme combination state feedback law functional observers velocity momentum. Four different types output stabilizers proposed. A full-order observer reduced-order used in order to estimate while unmeasured momentum either estimated using an appropriate scalar filter or ignored. reduced differs from full because it omits estimation measured position. Exponential convergence closed-loop system desired equilibrium point achieved each case. An algorithm provided that guarantees robotic arm can move glass water pre-specified no matter how is, without spilling out glass, residual end sloshing measuring velocity. Finally, efficiency proposed laws validated numerical examples, obtained simple finite-difference scheme. properties proposed, explicit, determined.