Fixed-time fractional-order sliding mode controller with disturbance observer for U-tube steam generator

Abstract

Water level control of a U-tube steam generator plays a critical and challenging role in ensuring safe and reliable operation for a pressurized-water reactor-type nuclear power plant, as both excessively high and low water level in the U-tube steam generator would affect the normal operation of the nuclear power plant and even lead to unplanned shutdown events. This work presents a fixed-time fractional-order sliding mode water level controller coupled with a fixed-time disturbance observer, aiming to further improve the water level control performance under full operating conditions, considering uncertainties and actuator saturation. The proposed scheme is formulatedbased on the popular Irving water level model with uncertainties and the pre-existing actual water level control framework, while at the same time incorporating the benefits of the state-of-the-art anti-windup techniques, disturbance observer-based feedforward compensation techniques, fractional-order calculus, sliding mode control techniques, and fixed-time stability theorem, such that the transient water level response and steady-state control accuracy can be further enhanced even in the presence of uncertainties and actuator saturation phenomenon. It is theoretically proved that under the proposed scheme, both the estimation error of the uncertainties and the water level control error can be driven to zero within a fixed time regardless of their initial values by Lyapunov’s theorem. Meanwhile, simulation studies, involving the comparisons with a real-world adopted water level controller and a pre-existing integer-order sliding mode water level controller coupled with an uncertainty estimator, reveal the feasibility and superiority of the proposed approach.