Sliding mode PI control with backstepping approach for MIMO nonlinear cross-coupled tank systems

aksu I. O. , ÇOBAN R.

INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, cilt.29, sa.6, ss.1854-1871, 2019 (SCI İndekslerine Giren Dergi) identifier identifier

  • Yayın Türü: Makale / Tam Makale
  • Cilt numarası: 29 Konu: 6
  • Basım Tarihi: 2019
  • Doi Numarası: 10.1002/rnc.4469
  • Sayfa Sayıları: ss.1854-1871


The control of tank systems in industrial applications is an important issue for monitoring the chemical processes involved in the manufacture and delivery of product. The most important reason to control the tank systems is to keep the liquid level in the tanks constant and at the desired level for a specified period of time. In this study, the sliding mode control (SMC) with a repetitive approach called backstepping that is insensitive to uncertainties in system parameters and input disturbances is proposed and experimentally applied to a quadruple, cross-coupled, uncertain, nonlinear, and multiple-input/multiple-output tank system. A proportional-integral (PI) control is used to reduce the steady-state error caused by the parameter variations and external noises. The traditional way of introducing PI usually leads to sliding surfaces. In this paper, the PI action is introduced to the control signal. The proposed backstepping sliding mode PI control (BSMPIC) is applied to such a complex tank system for the first time. The experimental results are compared with those of the SMC, sliding mode PI control, and backstepping sliding mode control to see the effect of the proposed BSMPIC on the system. As a result of the comparison, it is observed that less overshoot and tracking error, better tracking performance, and faster rise time in the transient regime is obtained by the BSMPIC.