Design and implementation of a Model-Free Fractional Order Intelligent PI Fractional Order Sliding Mode Controller for water level tank system.

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).