A Comparative Analysis of Sliding Mode Control, Feedback Linearization, and Proportional Integral Derivative Control in a Two-Tank System Using a High-Gain Observer

초록

Maintaining precise liquid levels in interconnected tank systems is a critical requirement in many industrial processes; however, achieving reliable control remains challenging due to inherent nonlinearities and external disturbances. This paper presents a comparative analysis of three control strategies-sliding mode control (SMC), feedback linearization (FL), and proportional-integral-derivative (PID) control-applied to a nonlinear two-tank system. To address the practical limitation of unmeasured system states, a high-gain observer (HGO) is integrated into the control architecture to reconstruct unmeasured water levels. In addition, the controller and observer parameters are optimized using a hybrid genetic algorithm to balance tracking precision and control effort. Simulation results demonstrate that, although all three methods achieve acceptable setpoint tracking performance, the SMC-HGO configuration exhibits superior robustness. Specifically, it outperforms FL and PID in rejecting external disturbances and maintaining stability under significant parameter variations, such as changes in discharge coefficients.

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