Abstract
This paper presents the formulation of nonlinear robust control that integrates backstepping and integral sliding mode control strategies for controlling liquid level in a two-tank system. In the classical sliding mode control, a discontinuous control law is synthesized to drive the system state to the sliding surface in a finite time and maintain it thereafter on that surface. The technique is naturally suited for the tracking of controlled systems, such as liquid level control inside two-tank system. However, the effects of the discontinuous nature of the control, known as the chattering phenomenon is harmful because it leads to low control accuracy and high wear and tear of moving mechanical parts. The hybrid control preserves the main advantages as it is reduced the chattering effect and provide higher accuracy in realisation of the control system. The performance of the proposed controller is simulated using MATLAB/Simulink software which tested for nominal system, system with external disturbance and system with parameter variation. The performance of proposed controller is compared against the performance of backstepping sliding mode control and integral sliding mode control in terms of chattering reduction and steady state error. The simulation results have shown that the proposed controller has improved the output tracking performance better than the performance backstepping sliding mode control (BSMC) and integral sliding mode (ISMC) with ISMC shows slowest respond. Undesired chattering in sliding surface has been reduced.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Fellani MA, Gabaj AM (2015) PID controller design for two tanks liquid level control system using Matlab. Int J Appl Innov Eng Manag 5(3):436–442
Singh SK, Katal N, Modani SG (2012) Multi-objective optimization of PID controller for coupled-tank liquid-level control system using genetic algorithm. In: Babu BV et al (eds.) Proceedings of the second international conference on soft computing for problem solving (SocProS 2012), advances in intelligent systems and computing, vol 236, pp 59–66. Springer, India (2014). https://doi.org/10.1007/978-81-322-1602-5_7
Mahapatro SR, Subudhi B, Ghosh S (2014) Adaptive fuzzy PI controller design for coupled tank system: an experimental validation. In: IFAC Proceedings of 3rd international conference on advances in control and optimization of dynamical systems (2014), vol 3(1), pp 878–881. Elsevier, Kanpur, India
Mursyitah D, Faizal A, Ismaredah E (2018) Level control in coupled tank system using PID-Fuzzy tuner controller. In: 2018 electrical power, electronics, communications, controls and informatics seminar, EECCIS 2018, pp 293–298. IEEE, Batu, Indonesia
Shehu IA, Wahab NA (2017) Applications of MPC and PI controls for liquid level control in coupled-tank systems. In: Proceedings - 2016 IEEE international conference on automatic control and intelligent systems, I2CACIS 2016, pp 119–124. IEEE, Shah alam, Malaysia
Gulzar MM, Munawar M, Dewan Z, Salman M, Iqbal S (2020) Level control of coupled conical tank system using adaptive model predictive controller. In: 2020 - IEEE 17th international conference on smart communities: improving quality of life using ICT, IoT and AI (HONET), pp 236–240. IEEE, Charlotte, NC, USA
Calofir V, Tanasa V, Fagarasan I, Stamatescu I, Arghira N, Stamatescu G (2013) A backstepping control method for a nonlinear process-two coupled-tanks. UPB Sci Bull Ser C Electr Eng Comput Sci 77(3):67–76
Nail B, Bekhiti B, Hafaifa A, Kouzou A, Hadroug N (2015) Feedback linearization and backstepping controllers for coupled tanks. Inform Eng. an Int J 3(4):1–17
Meng X, Yu H, Wu H, Xu T (2020) Disturbance observer-based integral backstepping control for a two-tank liquid level system subject to external disturbances. Math Probl Eng 2020:1–22
Saad M, Ramadhan A (2019) Sliding mode control of nonlinear coupled tank system. WSEAS Trans Syst. 18:35–44
Musmade B, Patre B (2013) Feedforward-plus-sliding mode controller design with experimental application of coupled tank system. Trans Inst Meas Control 35(8):1058–1067
Prusty SB, Seshagiri S, Pati UC, Mahapatra KK (2020) Sliding mode control of coupled tank systems using conditional integrators. IEEE/CAA J Autom Sin 7(1):118–125
Aksu IO, Coban R (2019) Sliding mode PI control with backstepping approach for MIMO nonlinear cross-coupled tank systems. Int J Rob Nonlinear Control 26(6):1854–1871
Yordanova S (2016) Fuzzy logic approach to coupled level control. Syst Sci Control Eng 4(1):215–222
Rajan S, Sahadev S (2016) Performance improvement of fuzzy logic controller using neural network. Procedia Technol 24:704–714
Khalid U, Shah YA, Qamar S, Gohar W, Riaz R, Shah WA (2014) Flow and level control of coupled four tanks system using artificial neural network. Am J Comput Commun Control 1(2):30–35
Sousa BS, Silva FV, Fileti AMF (2020) Level control of coupled tank system based on neural network techniques. Chem Prod Process Model 15(3):1–19
Abu Khadra F, Abu Qudeiri J (2015) Second order sliding mode control of coupled tanks. Math Probl Eng 2015:1–9
Fliess M (1990) Generalized controller canonical forms for linear and nonlinear dynamics. IEEE Trans Automat Contr 35(9):994–1001
Utkin V, Shi JSJ (1996) Integral sliding mode in systems operating under uncertainty conditions. In: Proceedings of 35th IEEE conference on decision and control, 4(December), pp 1–6. IEEE, Kobe, Japan
Acknowledgements
This research is supported by Universiti Malaysia Pahang (UMP) research grant Vot: RDU200328, Formulation of Backstepping Higher Order Sliding Mode Control (BHOSMC) as a New Technique in Chattering Reduction in Controlling Level Liquid in a Two-Tank System.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2022 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
About this paper
Cite this paper
Mat-Noh, M., Ahmad, H., Othman, N.A., Pebrianti, D., Kadir, H.A. (2022). Robust Nonlinear Liquid Level Control of a Coupled-Tank System Using Backstepping Integral Sliding Mode Control. In: Md. Zain, Z., Sulaiman, M.H., Mohamed, A.I., Bakar, M.S., Ramli, M.S. (eds) Proceedings of the 6th International Conference on Electrical, Control and Computer Engineering. Lecture Notes in Electrical Engineering, vol 842. Springer, Singapore. https://doi.org/10.1007/978-981-16-8690-0_59
Download citation
DOI: https://doi.org/10.1007/978-981-16-8690-0_59
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-16-8689-4
Online ISBN: 978-981-16-8690-0
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)