Second Order Sliding Mode Control of the Coupled Tanks System

Table 3

Time domain performance measures for different values.

(cm)	Controller	(s)	(s)	Os (%)	IAE
3.00	SMC	29.975	36.626	1.776	52.459
	TA	30.010	51.783	7.506	54.823
	STC	30.017	52.124	7.769	56.214
	QCC	30.010	51.250	7.085	54.580
	PCL	30.010	51.576	7.344	54.704
6.00	SMC	69.308	84.162	0.097	234.125
	TA	69.335	95.179	2.522	236.066
	STC	69.330	95.560	2.621	236.735
	QCC	69.335	94.630	2.393	235.909
	PCL	69.335	94.975	2.473	235.973
8.00	SMC	101.366	123.310	0.033	445.981
	TA	101.384	123.330	1.392	447.400
	STC	101.378	123.315	1.457	447.537
	QCC	101.384	123.330	1.327	447.329
	PCL	101.384	123.330	1.367	447.357