cff-version: 1.2.0
abstract: "The considered cascaded tanks system is a fluid level control system consisting of two tanks with free outlets fed by a pump. The input signal controls a water pump that delivers the water from a reservoir into the upper water tank. The water of the upper tank flows through a small opening into the lower tank, and finally through a small opening from the lower tank back into the reservoir. This benchmark combines soft and hard nonlinearities to be identified based on relatively short data records.<br>All the provided files and information on the cascaded tanks system are available for download here. The zip-file contains a detailed system description, the estimation and test input-output time series data sets, and some pictures and a video of the setup. The data is available in the .csv and .mat file format.<br>"
authors:
  - family-names: Schoukens
    given-names: Maarten
    orcid: "https://orcid.org/0000-0002-4904-1255"
  - family-names: Mattson
    given-names: Per
  - family-names: Wigren
    given-names: Torbjörn
    orcid: "https://orcid.org/0000-0003-2580-8906"
  - family-names: Noël
    given-names: Jean-Philippe
    orcid: "https://orcid.org/0000-0002-1317-4507"
title: "Cascaded Tanks Benchmark Combining Soft and Hard Nonlinearities"
keywords:
version: 1
identifiers:
  - type: doi
    value: 10.4121/12960104.v1
license: CC BY-SA 4.0
date-released: 2020-09-21