Linear discrete-time state space realization of a modified quadruple tank system with state estimation using Kalman filter

Sazuan Nazrah Mohd. Azam

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In this paper, we used the modified quadruple tank system that represents a multi-input-multi-output (MIMO) system as an example to present the realization of a linear discrete-time state space model and to obtain the state estimation using Kalman filter in a methodical mannered. First, an existing dynamics of the system of stochastic differential equations is linearized to produce the deterministic-stochastic linear transfer function. Then the linear transfer function is discretized to produce a linear discrete-time state space model that has a deterministic and a stochastic component. The filtered part of the Kalman filter is used to estimates the current state, based on the model and the measurements. The static and dynamic Kalman filter is compared and all results is demonstrated through simulations.
Original languageEnglish
Article number012013
Book seriesJournal of Physics: Conference Series
Number of pages11
Publication statusPublished - 2017
Event13th European Workshop on Advanced Control and Diagnosis - Graduate School of Engineering "Hautes Etudes d'Ingenieur", Lille, France
Duration: 17 Nov 201619 Nov 2016


Workshop13th European Workshop on Advanced Control and Diagnosis
LocationGraduate School of Engineering "Hautes Etudes d'Ingenieur"
Internet address

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Content from this work may be used under the terms of theCreative Commons Attribution 3.0 licence. Any further distribution of this work must maintain attribution to the author(s) and the title of the work, journal citation and DOI. Published under licence by IOP Publishing Ltd


  • Filtering methods in signal processing
  • Mathematical analysis
  • Other topics in statistics
  • Multivariable control systems
  • Discrete control systems
  • Linear control systems
  • Simulation, modelling and identification
  • Signal processing theory
  • Control system analysis and synthesis methods

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