The coupled tanks process is a two input-two output system. It presents a nonlinear behavior and interactions characteristic. After the nonlinear model is obtained, it is linearized around an operating point. A fractional-order proportional–integral–derivative based on the internal model control paradigm (1DOF-IMC-PID-FO) multi-loop controller is determined without considering the interactions, and a fractional-order proportional–integral–derivative based on the 2-degree-of-freedom internal model control structure (2DOF-IMC-PID-FO) multi-loop controller is determined by considering the interactions. Thus, an interactions reduction effect controller is calculated. Both controllers are implemented on a real-time process using the Real Time Windows Target of MATLAB. The objective of the control is to maintain the water level in the lower tanks at desired values. In the experiment, setpoint tracking and disturbance rejection tests are carried out to assess the performance of both 1DOF and 2DOF-IMC-PID-FO multi-loop controllers.

耦合坦克过程是一个两进两出的系统。它表现出非线性行为和相互作用的特征。获得非线性模型后，将其围绕工作点线性化。在不考虑相互作用的情况下确定基于内部模型控制范例（1DOF-IMC-PID-FO）多环控制器的分数阶比例-积分-导数，以及基于2的分数阶比例-积分-导数通过考虑相互作用确定自由度内部模型控制结构（2DOF-IMC-PID-FO）多环控制器。因此，计算了相互作用减少效果控制器。这两个控制器都是使用MATLAB的“实时Windows目标”在实时过程中实现的。控制的目的是将下部水箱中的水位保持在期望值。在实验中，进行了设定点跟踪和干扰抑制测试，以评估1DOF和2DOF-IMC-PID-FO多回路控制器的性能。