Actuator Fault-Tolerant Control Applied to Three-Tank System

Figure 3

Experimental plant: (1a, 1b, and 1c) 3 cubic tanks; (2a and 2b) 2 DC motor pumps; (3) liquid level sensors; (4) Fio std STM32F10 board; (5) motor driver board; (6) power supply; (7) basin; (8) control desk.