Robust second order sliding mode controller for nonlinear hydraulic system

This paper deals with the robust control problem of two coupled tank subjected to parameters uncertainties and external disturbance. The Standard Sliding Mode (SSM) controller produces oscillations (or¿chattering¿) in the closed-loop system. The new approach High Order Sliding Mode (HOSM) is proposed to eliminate the undesired chattering effect by using the robust differentiator. The application of this method to the two-tank system illustrates the validity and the performances of our approach. The experimental results are presented and discussed in this paper.