Journal of Applied Science and Engineering

Published by Tamkang University Press


Impact Factor



Thanh Tung Pham1This email address is being protected from spambots. You need JavaScript enabled to view it. and Chi-Ngon Nguyen

1Faculty of Electrical and Electronic Engineering, Vinh Long University of Technology Education, Vietnam
2College of Engineering Technology, Can Tho University, Vietnam


Received: August 25, 2022
Accepted: December 12, 2022
Publication Date: May 2, 2023

 Copyright The Author(s). This is an open access article distributed under the terms of the Creative Commons Attribution License (CC BY 4.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are cited.

Download Citation: ||  

A sliding mode control (SMC) based on the K observer for a three tank non-interacting system is designed and evaluated in this paper. This system is important in modern process control since it can potentially improve product quality and enhance economic benefits. The SMC controller is designed to ensure that the actual liquid level tracks the desired in a finite time. The K observer is used to estimate the speed and acceleration signal, and realize sliding mode control only by using the position signal. The Lyapunov theory is chosen to prove the stability of the control system. The simulation results of the proposed method in MATLAB/Simulink were compared to an optimal controller tuning of a PI controller based on Skogestad’s tuning method, Cohen coon based tuning and Internal Model Control, an optimal PIDA controller with model uncertainty by Cuckoo Search, a fuzzy logic controller, a PID-Fuzzy logic controller. The comparison results showed that the proposed controller was more effective when the rising time reached 2.1521s, the percent of overshoot was 0%, the steady state error converged to zero, the settling time was 3.8577s.

Keywords: Sliding mode control, K observer, liquid level control, three tank system, MATLAB/Simulink

  1. [1] S. Yu, X. Lu, Y. Zhou, Y. Feng, T. Qu, and H. Chen, (2020) “Liquid Level Tracking Control of Three-tank Systems" International Journal of Control, Automation and Systems 18(10): 2630–2640. DOI: 10.1007/s12555-018-0895-y.
  2. [2] M. Amor, T. Ladhari, S. Hadj Said, F. M’sahli, and R. Guo, (2020) “Actuator Fault-Tolerant Control Applied to Three-Tank System" Mathematical Problems in Engineering 2020: DOI: 10.1155/2020/8514049.
  3. [3] K. T. Sundari, C. Komathi, S. Durgadevi, and K. Abirami. “Optimal Controller tuning of a PI controller for a three tank non-interacting process”. In: Cited by:4. 2020. DOI: 10.1109/ICPECTS49113.2020.9337044.
  4. [4] T. Jitwang, A. Nawikavatan, and D. Puangdownreong, (2019) “Optimal pida controller design for threetank liquid-level control system witmodel uncertainty by cuckoo search" International Journal of Circuits, Systems and Signal Processing 13: 60–65.
  5. [5] H. R. Patel and V. A. Shah. “Fault tolerant control design based on takagi-sugeno fuzzy logic: Application to a three-tank system”. In: Cited by: 1. 2020, 256–266.
  6. [6] J. Kortela, (2022) “Model-Predictive Control for the Three-Tank System Utilizing an Industrial Automation System" ACS omega 7(22): 18605–18611.
  7. [7] K. S. Venkatesh, (2020) “Sliding Mode Controller Design for Three Tank System" International Journal of Research in Engineering, Science and Management 3(8): 565–569.
  8. [8] T. Bhaskarwar, H. F. Hawari, N. B. Nor, R. H. Chile, D. Waghmare, and S. Aole, (2022) “Sliding Mode Controller with Generalized Extended State Observer for Single Link Flexible Manipulator" Applied Sciences 12(6): 3079.
  9. [9] J. Liu. Sliding mode control using MATLAB. chapter 3.2017, 1–332.
  10. [10] A. Senapati, N. Maitra, S. Batabyal, and A. K.Kashyap, (2018) “Control and performance analysis of three tank flow control system using linear & non-linear controller" International Journal of Innovative Research in Computer and Comunication Engineering 6(1): 329–340.
  11. [11] W. He, X. Tang, T.Wang, and Z. Liu, (2022) “Trajectory tracking control for a three-dimensional flexible wing" IEEE Transactions on Control Systems Technology 30(5): 2243–2250.
  12. [12] A. Almabrok, M. Psarakis, and A. Dounis, (2018) “Fast tuning of the PID controller in an HVAC system using the big bang–big crunch algorithm and FPGA technology" Algorithms 11(10): 146.