Adaptive fuzzy sliding mode controller for two cascaded tanks level control

This paper proposes an indirect adaptive fuzzy sliding mode controller for a nonlinear plant. Fast convergence of the controlled system is first obtained from the indirect approach by roughly estimating the nonlinear functions of the plant. Then the sliding mode control approach with boundary layer is used to compensate the deteriorated system performance due to the model mismatch and unmodeled dynamics obtained from the indirect adaptive fuzzy control approach. The simulation results show that the level controlled system of a two cascaded tanks is stable, tracking error is significantly small and system convergence is fast for wide operating range while the chattering of the control input still occurs.