# Funnel control for a moving water tank

## TL;DR

This paper develops a funnel control method for a nonlinear moving water tank system modeled by linearized Saint-Venant equations, ensuring the tank's position tracks a reference signal within a specified performance funnel.

## Contribution

It applies recent funnel control techniques to a water tank system, demonstrating bounded-input, bounded-output stability for tracking control.

## Key findings

- Successful tracking within the performance funnel.
- System stability under the proposed control.
- Extension of funnel control to water tank dynamics.

## Abstract

We study tracking control for a nonlinear moving water tank system modelled by the linearized Saint-Venant equations, where the output is given by the position of the tank and the control input is the force acting on it. For a given reference signal, the objective is that the tracking error evolves within a pre-specified performance funnel. Exploiting recent results in funnel control, this can be achieved by showing that inter alia the system's internal dynamics are bounded-input, bounded-output stable.