Second order sliding mode control of coupled tanks

Authors:	Spurgeon Sarah, University of Leicester, United Kingdom Khalid Khan M, University of Leicester, United Kingdom
Topic:	2.3 Non-Linear Control Systems
Session:	Advances in High Order Sliding Mode Control
Keywords:	second order sliding modes, mimo liquid level control

Abstract

A second order sliding mode control algorithm is presented forrobust control of the liquid level in a pair of interconnectedtanks. The controller is implemented on a laboratory rig. Theimplementation results show robustness to parameter variationssuch as tank area, the admittance coefficients of various pipes,leakage in the tanks and uncertainty in the pump dynamics. Thepotential of second order sliding modes for multivariable controlis demonstrated.