The first goal of this paper is to obtain the optimal models of nonlinear processes represented by vertical three-tank systems. This paper also presents the design of optimal sliding mode and super-twisting sliding mode controllers employed for controlling the liquid level in the first tank of the vertical three-tank systems. An optimization problem is defined in order to ideally minimize and practically reduce the differences between the outputs of the laboratory equipment for real-time experiments and the outputs of the nonlinear models. Therefore, the parameters of the nonlinear models and of the proposed controllers are optimally tuned using a recent metaheuristic optimization algorithm, namely the Grey Wolf Optimizer (GWO), which solves six optimization problems. The objective functions are defined as the sums of the squared control errors, and they are solved in the iteration domain by also using a GWO algorithm. Comparative analyses of the responses of the laboratory equipment for real-time experiments and of the derived optimal nonlinear models are carried out in various simulation scenarios. The control structures are also validated through simulations and real-time experiments. The simulation and the experimental results prove that the performance of the control systems improves after ten iterations of the GWO algorithms.
Sliding mode control, Super-twisting sliding mode control, Grey wolf optimizer, Vertical three-tank systems.
Claudia-Adina BOJAN-DRAGOS, Radu-Emil PRECUP, Emil M. PETRIU, Robert-Alexander TIBRE, Tabita HAN, "Sliding Mode and Super-Twisting Sliding Mode Control Structures for Vertical Three-Tank Systems", Studies in Informatics and Control, ISSN 1220-1766, vol. 33(3), pp. 5-16, 2024. https://doi.org/10.24846/v33i3y202401
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