robust sliding mode single output process control

This note evaluates the performance of several adaptive second-order sliding mode (asosm) controllers in regulating the liquid level in a three-tank system. there are two conflicting merits: uniformity in the system performance at various operating points and chattering in the control signal. after best tuning of the methods, it is realized that the m3 design is a chattering-free one, and the m2 design yields a lower level of error in regulation and disturbance rejection of the designs. thus, none of them can collectively fulfill the design objective and the design of choice remains highly application-dependent.