Real-Time Application of Sliding Mode Controller for Coupled Tank Liquid Level System

Year 2016, Special Issue (2016), 301 - 306, 01.12.2016

Abdullah Başçi , Hayriye Tuğba Sekban Kaan Can

https://doi.org/10.18100/ijamec.270568

Abstract

In this paper, real time application of a sliding mode control (SMC) is
used for level control of experimental setup of liquid level system due to its
properties such as robustness against large parameter variation and disturbances
rejection. A well-tuned conventional proportional integral (PI) controller is
also applied to the two coupled tank system for comparison with the SMC
controller. Experimentation of the coupled tank system is realized in two
different configurations, namely configuration #1 and configuration #2
respectively. In configuration #1, the water level in the top tank is
controlled by a pump. In configuration #2, the water level in the bottom tank
is controlled by the water flow coming out of the top tank. The performance of
controllers is analysed according to their tracking performance and error
elimination capability for different references applied to the system.
Experimental results prove that the SMC shows better trajectory tracking
performance than PI controller in that the plant transient responses to the
desired output changes have shorter settling time and smaller magnitude
overshot/undershoot. Robustness of the SMC with respect to water level
variation and capability to eliminate external disturbances are also achieved.

Keywords

Liquid Level Control

References

• [1] Tunyasrirut S., Suksri T., Numsomran A., Gulpanich S., Tirasesth K., “The Auto-Tuning PID Controller for Interacting Water Level Process,” Proceedings of World Academy of Science, Engineering and Technology, vol.12,134-138, 2006.
• [2] Gou W., Research of Intelligent PID and Its Application in the Water Level Control, Heifei: Anhui Agricultural University, 2008.
• [3] Liu K., Advanced PID Control and Matlab Simulation. Beijing: Publishing House of Electronics Industry, 2004.
• [4] Gouta H., Said S.H. and M’sahli F., "Model-Based Predictive and Backstepping Controllers Four-Tank System with Bounded Control İnputs: A Comparative Study" Journal of the Franklin Institute, vol.352, pp. 4864-4889, Nov. 2015.
• [6] Benayache R., Chıfı-Alaouı L., Dovıfaaz X. and Bussy P., "Real-time Nonlinear Adaptive backstepping Liquid Level Control for a State Coupled Three Tank System," in Proceedings of the European Control Conference, 2009.