Real-time nonlinear adaptive backstepping liquid level control for a state coupled three tank system

A real-time nonlinear adaptive backstepping liquid level control is proposed for a state coupled three tank system. In this paper, the nonlinear backstepping control approach for a nonlinear uncertain system is proposed. In this system there are uncertain terms, whose bounds are governed by a set of unknown parameters, some important properties of the dynamics of the three tank platform have been derived and exploited to develop an adaptive backstepping controller which can drive the level tracking error to zero asymptotically. Stability analysis based on Lyapunov theory is performed to ensure that the controller adaptive is stable for the unknown parameters. Finally, the experimental results confirm the effectiveness of our control design. Stability analysis results are discussed, which show that the closed-loop system is ultimately bounded.