Sliding Mode Controller for Two Conical Tank Interacting Level System

In this paper, the robust control problem of interacting nonlinear multi-input multi-output (MIMO) systems is proposed. The robustness against unknown process parameter variation is considered. Three algorithms based on the Sliding Mode Control (SMC) are proposed: SMC with conventional surface, SMC with PID surface and SMC with integral surface. The effectiveness of these algorithms are simulated and implemented on Two Conical Tank Interacting Level System (TCTILS) which exhibits dynamic non linearity and coupling dynamics. The SMC with conventional sliding surface provides robust control against parameter variation and excellent set point tracking compared to SMC with PID sliding surface and SMC with integral sliding surface.