Level Control of Quadruple Tank Process with Finite-Time Convergence Using Integral Terminal Sliding Mode Controller

  • Sekaran Sankaranarayanan
  • Lakshmi Ponnusamy
  • Sangapillai Sutha
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 324)


This paper addresses the level control of quadruple tank process (QTP) operating in minimum phase mode. To control the level in bottom tanks, a nonlinear controller standard sliding mode controller (SMC) is designed initially. To improve the controlling effort and finite-time convergence of process variable, terminal sliding mode controller (TSMC) is designed. With same operating conditions, integrality is added to TSMC results in integral terminal sliding mode controller (ITSMC) for QTP with relative degree two, which results in better asymptotic error convergence. Undesirable chattering effect in final control element is reduced by introducing Exponential Multilevel Switching Variable Gain is added to the designed controllers. Finally, the efficacy of the proposed scheme is demonstrated by conducting simulation studies using MATLAB on QTP to prove ITSMC is significantly superior to others in terms of robustness, better tracking, rejecting the disturbances with better quality, and performance indices.


Quadruple tank process Sliding mode controller Terminal sliding mode controller Integral terminal sliding mode controller Non minimum phase 


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Copyright information

© Springer India 2015

Authors and Affiliations

  • Sekaran Sankaranarayanan
    • 1
  • Lakshmi Ponnusamy
    • 1
  • Sangapillai Sutha
    • 1
  1. 1.Department of EEE, College of Engineering GuindyAnna UniversityChennaiIndia

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