![](bg6.png)
Figure 5: Experimental results (GPC control case).
Figure 6: Experimental results (use of a notch filter).
7 CONCLUSIONS
Using the state-space equation obtained using BEM,
we were able to precisely express the liquid surface
vibration during transfer and tilting of a container.
Moreover, using GPC, we were able to keep the liquid
surface flat during transfer of the container at a con-
stant speed when acceleration is applied in the hori-
zontal direction. In particular, we achieved immedi-
ate suppression of sloshing when the container stops.
Experimental results provide evidence that our con-
trol approach using both the BEM model and MPC
achieves better results than any conventional control
methods such as the notch filter technique and PID
control. Furthermore, useful research based on this
paper was reported (Shibuya et al., 2011)
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