BACKSTEPPING PI SLIDING MODE CONTROLLER APPLICATIONS BASED ON EXPONENTIAL REACHING LAW FOR TWO_TANK INTERACTING SYSTEM

Abstract

This article presents a method to design a backstepping PI sliding mode control based on exponential reaching law (BPISMC-ERL) for two_tank interacting system. The proposed controller is designed to ensure that the actual liquid level position follows the desired position in a finite time and to reduce the high frequency oscillation (so called chattering phenomena) around the sliding surface. This is the major drawback of classical sliding mode control. The performance of the designed controller is verified in simulation and compared with sliding mode control using conditional integrators, intelligent controller, Fuzzy-Optimized model reference adaptive control based on Lyapunov rules and Fuzzy-PID controller. Simulation results in MATLAB/Simulink show that the proposed controller is more effective with the rise time achieves 0.0771(s), the percent overshoot is 0(%), the steady state error converges to zero, the settling time is 0.1409(s) and the chattering is eliminated.