水槽系統常用於化學工業以及其他相關產業，而其控制需求主要在於水槽內部的液體溫度、水位高度以及其管道流量控制，所以這些方面的精度要求也是控制目標所需達到的。
對於本論文中水槽系統之控制，我們使用了順滑模態控制設計方法。順滑模態控制設計方法在應用上已行之有年，主要因為其強健性。但是傳統的順滑模態控制為了滿足順滑條件將必然地在順滑平面上產生不連續的控制，使得切跳現象的造成，也影響了系統參數的不確定性以及對於雜訊的不變性。因此，我們提出了積分型態控制輸入結合比例控制器。此控制律可減少穩態誤差，並避免了積分型態控制律所產生之切跳現象的產生。
將所提出的控制律應用於水槽實驗部分，不論是在水槽流量或是水位高度控制方面，皆能夠達成控制目標。

In the chemical industry and some other factories, tank systems are often used in production process. The application of control to these tank systems focuses on the fluid temperature control, level control, and flow rate control. The precision of these aspects is the main objective of control. In this study, the sliding mode control is applied to flow rate and level control of the tank systems. Owing to its robustness, sliding - mode control law has been applied to many fields. However, the traditional design of SMC will induce discontinuous control action, which may cause chattering and also generate undesired performance. Therefore, a controller with an integral form of sign function, combined with a proportional controller, is proposed in this research. The integral type controller can depress the steady - state error of the control system, and avoid the phenomenon of chattering. The feasibility of the proposed controller is presented by both simulations and experimental studies.

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