FPTID+FF controller design for coupled tank liquid level system using battle royale optimization algorithm

The liquid to be supplied in the tanks used in the process industry should be stored in the tanks and transferred to other tanks according to the need. Therefore, it is extremely important to keep the liquid at a certain range or height. In this thesis, feedforward proportional-integral (PI+FF) and feedforward fractional proportional-tilt-integral-derivative (FPTID+FF) are proposed to keep the liquid level of the coupled tank system, which is frequently used in process industries such as papermaking, petro-chemistry and water treatment plants. A new meta-heuristic algorithm, battle royale optimization (BRO), is used to tune the PI+FF and FPTID+FF parameters. The proposed controllers are simulated in Matlab/Simulink environment and convergence profile, transient response and finally robustness analysis against system parameter change are examined. According to the simulation results obtained, it has been observed that the FPTID+FF controller gives better results than the PI+FF controller. In addition, the superiority of the proposed BRO-based FPTID+FF controller has been tested in real-time in coupled tank system, validating good performance and response.