Adaptive fuzzy fault-tolerant PID controller design for a single-tank level process in the presence of sensor faults and disturbances

This paper investigates the implementation and evaluation of a water level control system using Arduino and MATLAB. The main objective is to analyze and compare the performance of different controllers in a real experimental setup. The dynamic behavior of the system is identified based on experimental data, and the system transfer function is approximated as a first-order model. Based on this model, the PID controller parameters are designed and tuned in the Simulink environment. The controller performance is then evaluated in real time through direct communication with the Arduino platform. In this study, manual control is completely eliminated, and MATLAB/Simulink fully undertakes the control task of the system. Furthermore, various types of potential sensor faults are systematically implemented, and their effects on system performance are analyzed. To improve the response of the classical PID controller, a Fuzzy-PID controller is employed. This improvement is particularly evident in reducing overshoot and shortening the disturbance-recovery time. In addition, the system response is examined under both disturbed and disturbance-free operating conditions.