A High Order Sliding Mode Controller Design for the Quadruple Tank Process with a Time Delay Compensator in The Presence of Uncertainties
محورهای موضوعی : مهندسی هوشمند برقDavood Ansari 1 , Mehdi Siahi 2 , Mohammad Komareji 3
1 - Faculty of Mechanical, Electrical and Computer, Islamic Azad University, Science and Research branch, Tehran, Iran
2 - Faculty of Mechanical, Electrical and Computer, Islamic Azad University, Science and Research branch, Tehran, Iran
3 - Faculty of Mechanical, Electrical and Computer, Islamic Azad University, Science and Research branch, Tehran, Iran
کلید واژه: Quadruple tank process system, advanced process control, second-order sliding model control, non-linear control, Pade estimation and time delay compensator, persistent control,
چکیده مقاله :
In this article for controlling the height of the liquids in bottom tanks of the quadruple tank process system which is a prototype and an appropriate model of industrial processes, a second-order linear sliding mode controller is designed. The design of the linear second-order sliding mode controller which is stable is done to utilize the benefits of the sliding mode controllers and also reducing the high benefit and chattering in the control signal. To design an applicable and reliable controller, the real present criteria in the industry such as the presence of delay in performance of the pumps and liquid movement in pipes are also considered. To this end, the compensator of the time delay, based on the first order Pade estimation is designed for the model of “quadruple tank system with delay”. Using the controllers of the sliding model with the compensator of the time delay provides a control system that is not only persistent against the external perturbation and uncertainties, but also can provide an appropriate performance by reducing high benefits and chattering in the presence of current delays in the system.
