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Sliding mode control of quadruple tank process |
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| Authors: | Pinak Pani Biswas Rishi Srivastava Subhabrata Ray Amar Nath Samanta |
| Affiliation: | 1. College of Information Engineering, Yangzhou University, Yangzhou, China;2. RMIT University, Melbourne, Australia;3. Institute of Automation, Chinese Academy of Science, Beijing, China;1. School of Control and Computer Engineering, North China Electric Power University, Beijing 102206, China;2. Politecnico di Torino, Dipartimento di Automatica e Informatica, Corso Duca degli Abruzzi 24, 10129 Torino, Italy;1. Departamento de Automatización y Control Industrial, Escuela Politécnica Nacional, Calle Ladron de Guevara E11-253 170517, Quito, Ecuador;2. CEMISID, Facultad de Ingeniería, Universidad de Los Andes, Mérida 5101, Venezuela;3. GIDITIC, Universidad EAFIT, Medellín, Colombia;4. Dpto. de Automática, Universidad de Alcalá, Spain |
| Abstract: | The process investigated herein is the quadruple tank system that is stable only within a limited zone of operating parameters. The process model has been developed from fundamentals and tuned with experimental data. A controller design based on feedback linearization has been tested on this process model. Coupling feedback linearization with sliding mode algorithm provides robust control of the process and performs far superior to conventional PI control. A PC based controller interfaced to the experimental quadruple tank experimental set up has been used to implement this algorithm and test its performance. Inserting a ‘boundary layer’ around the sliding surface reduced the ‘chattering’ associated with sliding mode control. The implemented controller provides robust control and excellent set point tracking. |
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