Development of an internal model sliding mode controller for cascade control system

In the work presented, a combined approach of internal model control (IMC) structure along with sliding mode control (SMC) is been proposed in order to improve the performance and robustness of temperature-flow cascade control system. Despite of using an approximate first-order plus dead-time (FOPDT) model for outer loop process of cascade control system, the IMC-SMC structure together, helps to overcome the variations caused by parametric uncertainties and external disturbances. Simulation results shown helps to understand the difference between the presented work and the conventional designing approach of cascade control structures in terms of performance and robustness against set-point and disturbance changes.