Abstract: The quadruple tank process (QTP) is a well-known benchmark of a nonlinear coupled complex MIMO process having both minimum and nonminimum phase characteristics. This paper presents a novel self tuning-type dual-mode adaptive fractional order PID controller along with an adaptive feedforward controller for the QTP. The controllers are designed based on a novel variable parameter transfer function model. The effectiveness of the proposed model and controllers is tested through numerical simulation and experimentation. Results reveal that the proposed controllers work successfully to track the reference signals in all ranges of output. A brief comparison with some of the earlier reported similar works is presented to show that the proposed control scheme has some advantages and better performances than several other similar works.
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