Adaptive sliding mode control of MIMO coupled tank system

The aim of this thesis is to design an adaptive sliding mode controller for a multi input multi output quadruple tank system developed for liquid level control. Sliding mode control is a robust control approach designed to control complex nonlinear systems. The sliding mode control method is an efficient control technique in the presence of external disturbances and parametric uncertainties. This control method offers adaptability and can be combined with other control techniques to achieve enhanced outcomes. In this thesis, both the sliding mode control and adaptive sliding mode control methods are applied to the coupled tank system. The stability of the controllers is mathematically proven using the Lyapunov theorem. The implemantation of the adaptive sliding mode control method for the multi input multi output coupled tank system demonstrates the success of the designed controller in achieving more effective control performans for the system. In addition, the applicability of the proposed method for demanding complex systems such as coupled tanks has been verified. Although both methods achieved successful results, the proposed adaptive sliding mode control method offers better tracking performance compared to the conventional sliding mode method.