Sliding mode control and optimal GPC algorithm for coupled tanks

In this paper we have applied two types of control on two coupled water tanks, where the dynamic model is nonlinear system. The first control is the sliding mode with linear surface, the advantages of this type of control is the discontinuity behavior which can be applied to variable structure systems (VSS) and its good robustness against the injected disturbances, and/or the noise, and finally unaffected control to the parameter variation due to its nature, the second control is the generalized predictive control (GPC), this control is widely used in the industry, for the application of this control we should linearize the coupled model Around desired operating point, and stabilize the system by using the LQR method, and finally we apply the GPC algorithm on the discrete system.