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Mathematical Problems in Engineering
Volume 2015 (2015), Article ID 167852, 9 pages
Research Article

Second Order Sliding Mode Control of the Coupled Tanks System

1Faculty of Engineering, King Abdulaziz University, Rabigh 21911, Saudi Arabia
2FARCAMT, Advanced Manufacturing Institute, King Saud University, Riyadh 11421, Saudi Arabia

Received 7 March 2015; Revised 4 April 2015; Accepted 5 April 2015

Academic Editor: Qingling Zhang

Copyright © 2015 Fayiz Abu Khadra and Jaber Abu Qudeiri. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Four classes of second order sliding mode controllers (2-SMC) have been successfully applied to regulate the liquid level in the second tank of a coupled tanks system. The robustness of these classes of 2-SMC is investigated and their performances are compared with a first order controller to show the merits of these controllers. The effectiveness of these controllers is verified through computer simulations. Comparison between the controllers is based on the time domain performance measures such as rise time, settling time, and the integral absolute error. Results showed that controllers are able to regulate the liquid level with small differences in their performance.