Abstract
In this paper, an adaptive fractional-order sliding mode controller is constructed to control a quadruple tank process. The pump voltages are considered as the inputs, while the water levels in two tanks are considered as the outputs. Now, a fractional-order sliding mode controller with a non-integer sliding surface is designed. To increase the robustness to the pump coefficients, an adaptive version of the mentioned controller is designed using an appropriate Lyapunov based adaptation mechanism. This adaptation mechanism is selected such that the water levels in the two tanks converge to their corresponding desired values. The simulation results are provided to demonstrate the robust performance of the proposed controller.
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