Control with second degree sliding mode controller of nonlinear systems

In the thesis study, the Coupled-Tank system, which is the typical application of the fluid level tank system used in industrial facilities, and the control of the electromechanical systems by applying the sliding mode control (SMC) to the direct current (DC) motor system are examined. The mathematical model of the DC motor and Coupled -Tank system has been drawn. Dynamic equations of nonlinear systems are designed by combining them with sliding mode control. In the thesis study, the sliding mode control (SMC) was preferred by the researcher due to its robustness against parameter changes and distortions. The control signal for the sliding mode control is calculated as the sum of the switching control signal and the equivalent control signal. The transfer function of the nonlinear Coupled -Tank system was calculated by the Taylor series linearization method. Coupled -Tank applied sliding mode control and feedforward PI controller (FF-PI), another form of control, is compared with the DC motor system PI control controller. The monitoring of the measured value and the reference value in the MATLAB-Simulink simulation environment of the systems designed by applying the sliding mode control (SMC) and the error detection between the measured value and the desired value were examined according to the waveforms and compared using the error functions (IAE, ISE, ITAE, ITSE). It has been proven that systems designed with sliding mode control (SMC) have less error values compared to other control methods and the chattering effect can be eliminated by the second order SMC method.