Performances comparison between ultra-local model control, integral sliding mode control and PID control for a coupled tanks system

This paper deals with the comparison of robust control approaches for the level water control of coupled tanks system. A new ultra-local model control (ULMC) approach leading to adaptive controller is proposed. The parameter identification of the ultra-local model is based on the algebraic derivation techniques. The main advantages of this control strategy are its simplicity and robustness. A comparison study with the integral sliding mode control (ISMC) approach is carried out. The perfect knowledge of the output variable degree, which is a standard assumption for sliding modes, is assumed here. The comparison of the simulation results for the proposed adaptive controller with the ISMC controller and the classical PID controller has a better performances in the presence of external perturbations and parameter uncertainties.