Command-Filtered Backstepping Control of Multitank System

This paper presents the control of a nonlinear coupled three tank system. The objective is to develop and design a command-filtered backstepping control method for liquid level tracking of the third tank of the INTECO three-tank system, as well as comparing the pump control signal results with the standard backstepping controller. The designed command filter backstepping controller is verified on mathematical model within MATLAB/Simulink environment and applied to the real-time plant. The simulation results demonstrate that the main process variables have a good performance and the process control quality is satisfied. The advantage of this type of control lies in avoiding the high frequency noise introduced by the command signal derivatives into the control signal. The main concept of command filter backstepping is to use a low pass filter to remove high frequency noise.