Title: Performances comparison between ultra-local model control, integral sliding mode control and PID control for a coupled tanks system
Authors: Hajer Thabet; Mounir Ayadi; Frédéric Rotella
Addresses: Université de Tunis El Manar, Ecole Nationale d'Ingénieurs de Tunis, Laboratoire de Recherche LA.R.A Automatique, BP 37, 1002, Tunis, Tunisia ' Université de Tunis El Manar, Ecole Nationale d'Ingénieurs de Tunis, Laboratoire de Recherche LA.R.A Automatique, BP 37, 1002, Tunis, Tunisia ' Ecole Nationale d'Ingénieurs de Tarbes, Laboratoire de Génie de Production, 65016, Tarbes CEDEX, France
Abstract: This paper deals with the comparison of robust control approaches for the level water control of a coupled tanks system. A new ultra-local model control (ULMC) approach leading to adaptive controller is proposed. The parameter identification of the ultra-local model is based on the algebraic derivation techniques. The main advantages of this control strategy are its simplicity and robustness. A comparison study with the integral sliding mode control (ISMC) approach is carried out. The perfect knowledge of the output variable degree, which is a standard assumption for sliding modes, is assumed here. The comparison of the simulation results for the proposed adaptive controller with the ISMC controller and the classical PID controller has better performances in the presence of external perturbations and parameter uncertainties.
Keywords: ultra-local model control; ULMC; adaptive PID controller; integral sliding mode control; ISMC; robustness; coupled tanks system.
International Journal of Modelling, Identification and Control, 2018 Vol.30 No.3, pp.219 - 228
Received: 31 Jan 2017
Accepted: 08 Aug 2017
Published online: 17 Sep 2018 *