Auto-tuning Smith Predictive Control of Three Tanks System Based on Model Reference Adaptive System

(This paper presents an Auto-tuning Smith- Predictive Proportional + Integral + Derivative (PID controller based on Model Reference Adaptive System (MRAS). The Model Reference Adaptive Control employs the MIT rule to set the PID controller parameters on line. Smith- Predictive Control (SPC) is implied to predict the behavior of the system for presented time-delay system. Combination of the adaptive techniques and smith-predictive PID controller results, compared with classical smith-predictive PID which is tuned via Ziegler-Nichols (Z-N) method.