The objective of this work is to design a controller that may maintain the level of a conical tank which has nonlinear dynamics. Because of the nonlinearity present in the dynamics of the plant, the controller parameters have to be dynamic as well, so that the performance of the system may be enhanced. Hence sliding mode controller which is robust is designed with an adaptive mechanism, so that it could cope up with the varying dynamics of the system. In this paper, three different algorithms were used to study the system behaviour by using simulation. These algorithms were also implemented in real time. When its performance was observed in real time, the adaptive sliding mode controller proved to outperform when compared to reaching law and super twisting algorithm based sliding mode controllers.
Adaptive control, Nonlinear systems, Pneumatic actuators, Robustness, Sliding mode control.
Srinivasan KANTHALAKSHMI, Wincy Pon ANNAL, "Real Time Implementation of Adaptive Sliding Mode Controller for a Nonlinear System", Studies in Informatics and Control, ISSN 1220-1766, vol. 27(4), pp. 395-402, 2018. https://doi.org/10.24846/v27i4y201803
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