Closed Loop Simulation of Quadruple Tank Process Using Adaptive Multi-Loop Fractional Order PID Controller Optimized Using Bat Algorithm

Abstract .....................................................................................................350 13.1 Introduction ....................................................................................350 13.2 Quadruple Tank Process Description .............................................352 13.2.1 Mathematical Modeling ...................................................353 13.2.2 State Space Model ............................................................354 13.2.3 Approximation of the Higher Order Transfer Function

to First Order Plus Dead Time Model for the Quadruple Tank Process ...................................................356