Design of a higher-order derivative pid controller for a coupled-tank water level system

Name: Warakon Jantapoon

Organization : Pathumwan Institute of Technology. Department of Electrical Engineering

Name: Baitong Thongsakul

Organization : Pathumwan Institute of Technology. Department of Electrical Engineering

Email : baitong.t@pit.ac.th

LCSH: PID controllers -- Design and construction

LCSH: Process control -- Mathematical models

LCSH: Feedback control systems

LCSH: Automatic control -- Data processing

LCSH: Hydraulic control -- Equipment and supplies

Abstract: This paper presents the design and evaluation of a Higher-Order Derivative PID (HO-PID) controller for water level regulation in a non-interacting coupled-tank system. To capture the second-order behavior of the coupled-tank system more accurately, the plant is modeled as a Second-Order Plus Dead-Time (SOPDT) process, and the controller tuning formulas are derived through the Quadruple Real Dominant Pole (QRDP) method formulated for second-order dynamics. Six controller configurations, ranging from 1-PID to 6-PID, were implemented in MATLAB/Simulink and compared against a conventional PID controller tuned by the Internal Model Control (IMC) method, under both noise-free and noisy conditions. For reference tracking, controllers with m >= 2 achieve near-zero overshoot, compared to 12.0 percent for the conventional PID, while 1-PID provides the fastest transient response, with a settling time of 193.7 s, approximately half that of the baseline. For disturbance rejection, performance improves consistently as the derivative order m increases, with 6-PID attaining the lowest Integral Absolute Error (IAE) of 2062. Under measurement noise, the output responses remain nearly unchanged, whereas higher-order controllers generate progressively smoother control signals owing to the nth-order binomial filter Q(s). The results confirm that the QRDP-tuned HO-PID controller, particularly 6-PID, improves transient performance, disturbance rejection, and noise robustness over the conventional PID, making it an effective alternative for higher-order process control.

King Mongkut's University of Technology North Bangkok. Central Library

Address: BANGKOK

Email: library@kmutnb.ac.th

Created: 2026

Modified: 2026-08-11

Issued: 2026-08-11

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BibliograpyCitation : In ECTI Association and Burapha University. Faculty of Engineering. 2026 23rd International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology (ECTI-CON 2026) (pp.440-445). Piscataway, NJ : IEEE

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