Abstract
This paper presents a combination of three nonlinear control methods, namely Model free Controller (MFC), Fractional-order Proportional Integral Controller (FO-PIC) and Fractional-order Sliding Mode Controller (FO-SMC), which gives rise to the new MFC algorithm with the term MF-FOiPI-FOSMC called Model Free-Fractional Order Intelligent Proportional Integral-Fractional Order Sliding Mode Controller. The stability analysis of the closed loop system (CLS) and the attractiveness of the proposed method are established by Lyapunov theorem analysis. The validation of the MF-FOiPI-FOSMC is first presented by simulation results and then performed by experimental results on the water level tank system. In addition, the effectiveness and performance of the new proposed FOiPI-FOSMC strategy is proved by comparing it to other strategies such as the classical PI controller and intelligent proportional–integral controller (i-PI).
•The presented technique allows us to combine the model free controller, SMC and FO theory. A sliding surface and intelligent proportional integral controller introduces the fractional aspect of the control law.•The formulation of the conditions under which the sliding mode can be reached and exists in order to guarantee the stability of the control system.•In addition, the asymptotic proof of the stability of the closed-loop system is demonstrated by the Lyapunov synthesis.•The validation of the proposed method is initially presented by simulation results then is performed by real-time experimental results on a real process represented by the water level tank system.•The simulation and experimental results show the effectiveness of the proposed scheme and robustness of the proposed controller compared to the classical PI controller and iPI controller.