Four-container liquid level system dead-beat model prediction control method considering set disturbance

The invention discloses a four-container liquid level system dead-beat model prediction control method considering set disturbance. A prediction control method based on a dead-beat model for the liquid level position control and tracking control problems of the four-container liquid level system is provided, and solves the problem that the four-container liquid level system with the characteristics of high nonlinearity, large inertia, strong coupling, large time delay and the like is greatly influenced by measurement errors, unknown disturbance and parameter uncertainty, and further a control task is more complicated, and accurate multi-variable control is very difficult. A disturbance observer is adopted to estimate measurement errors, unknown disturbance and set disturbance formed by uncertainty of parameters, a disturbance compensation control law is formed, and then efficient control over the four-container liquid level system is achieved. Simulation experiment results show that position control, tracking control and disturbance suppression control of the liquid level in the four-container liquid level system can be achieved through the method.