{"id":"https://openalex.org/W7167605225","doi":"https://doi.org/10.15837/ijccc.2026.4.7460","title":"Real-Time Hardware-in-the-Loop Evaluation of an RBFNN Controller for Water Level Control in an Uncertain Tripled-Tank System","display_name":"Real-Time Hardware-in-the-Loop Evaluation of an RBFNN Controller for Water Level Control in an Uncertain Tripled-Tank System","publication_year":2026,"publication_date":"2026-07-07","ids":{"openalex":"https://openalex.org/W7167605225","doi":"https://doi.org/10.15837/ijccc.2026.4.7460"},"language":null,"primary_location":{"id":"doi:10.15837/ijccc.2026.4.7460","is_oa":true,"landing_page_url":"https://doi.org/10.15837/ijccc.2026.4.7460","pdf_url":"https://univagora.ro/jour/index.php/ijccc/article/download/7460/2526","source":{"id":"https://openalex.org/S147751515","display_name":"International Journal of Computers Communications & Control","issn_l":"1841-9836","issn":["1841-9836","1841-9844"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310314650","host_organization_name":"Agora University","host_organization_lineage":["https://openalex.org/P4310314650"],"host_organization_lineage_names":["Agora University"],"type":"journal"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"INTERNATIONAL JOURNAL OF COMPUTERS COMMUNICATIONS &amp; CONTROL","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://univagora.ro/jour/index.php/ijccc/article/download/7460/2526","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5135964110","display_name":"Trung Nhan Nguyen","orcid":null},"institutions":[{"id":"https://openalex.org/I202539009","display_name":"Industrial University of Ho Chi Minh City","ror":"https://ror.org/03mj71j26","country_code":"VN","type":"education","lineage":["https://openalex.org/I202539009"]}],"countries":["VN"],"is_corresponding":false,"raw_author_name":"Trung Nhan Nguyen","raw_affiliation_strings":["Robotics, Intelligent control and Computer vision research group, Faculty of Electrical Engineering Technology, Industrial University of Ho Chi Minh, City, Vietnam"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics, Intelligent control and Computer vision research group, Faculty of Electrical Engineering Technology, Industrial University of Ho Chi Minh, City, Vietnam","institution_ids":["https://openalex.org/I202539009"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066817503","display_name":"Thanh Quyen Ngo","orcid":"https://orcid.org/0000-0002-2632-3903"},"institutions":[{"id":"https://openalex.org/I202539009","display_name":"Industrial University of Ho Chi Minh City","ror":"https://ror.org/03mj71j26","country_code":"VN","type":"education","lineage":["https://openalex.org/I202539009"]}],"countries":["VN"],"is_corresponding":false,"raw_author_name":"Thanh Quyen Ngo","raw_affiliation_strings":["Robotics, Intelligent control and Computer vision research group, Faculty of Electrical Engineering Technology, Industrial University of Ho Chi Minh, City, Vietnam"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics, Intelligent control and Computer vision research group, Faculty of Electrical Engineering Technology, Industrial University of Ho Chi Minh, City, Vietnam","institution_ids":["https://openalex.org/I202539009"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102786076","display_name":"Thanh Hai Tran","orcid":"https://orcid.org/0009-0008-2283-2891"},"institutions":[{"id":"https://openalex.org/I202539009","display_name":"Industrial University of Ho Chi Minh City","ror":"https://ror.org/03mj71j26","country_code":"VN","type":"education","lineage":["https://openalex.org/I202539009"]}],"countries":["VN"],"is_corresponding":false,"raw_author_name":"Thanh Hai Tran","raw_affiliation_strings":["Robotics, Intelligent control and Computer vision research group, Faculty of Electrical Engineering Technology, Industrial University of Ho Chi Minh, City, Vietnam"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics, Intelligent control and Computer vision research group, Faculty of Electrical Engineering Technology, Industrial University of Ho Chi Minh, City, Vietnam","institution_ids":["https://openalex.org/I202539009"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112994769","display_name":"Ngoc Hoi Le","orcid":null},"institutions":[{"id":"https://openalex.org/I202539009","display_name":"Industrial University of Ho Chi Minh City","ror":"https://ror.org/03mj71j26","country_code":"VN","type":"education","lineage":["https://openalex.org/I202539009"]}],"countries":["VN"],"is_corresponding":false,"raw_author_name":"Ngoc Hoi Le","raw_affiliation_strings":["Faculty of Electrical Engineering Technology, Industrial University of Ho Chi Minh City, Vietnam"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering Technology, Industrial University of Ho Chi Minh City, Vietnam","institution_ids":["https://openalex.org/I202539009"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134584770","display_name":"Van Sy Nguyen","orcid":null},"institutions":[{"id":"https://openalex.org/I202539009","display_name":"Industrial University of Ho Chi Minh City","ror":"https://ror.org/03mj71j26","country_code":"VN","type":"education","lineage":["https://openalex.org/I202539009"]}],"countries":["VN"],"is_corresponding":false,"raw_author_name":"Van Sy Nguyen","raw_affiliation_strings":["Faculty of Automotive Engineering Technology, Industrial University of Ho Chi Minh City, Vietnam"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Automotive Engineering Technology, Industrial University of Ho Chi Minh City, Vietnam","institution_ids":["https://openalex.org/I202539009"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100695646","display_name":"Tong Tan Hoa Le","orcid":"https://orcid.org/0009-0006-8243-8824"},"institutions":[{"id":"https://openalex.org/I202539009","display_name":"Industrial University of Ho Chi Minh City","ror":"https://ror.org/03mj71j26","country_code":"VN","type":"education","lineage":["https://openalex.org/I202539009"]}],"countries":["VN"],"is_corresponding":false,"raw_author_name":"Tong Tan Hoa Le","raw_affiliation_strings":["Faculty of Electrical Engineering Technology, Industrial University of Ho Chi Minh City, Vietnam"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering Technology, Industrial University of Ho Chi Minh City, Vietnam","institution_ids":["https://openalex.org/I202539009"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I202539009"],"apc_list":{"value":500,"currency":"EUR","value_usd":539},"apc_paid":{"value":500,"currency":"EUR","value_usd":539},"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.84884324,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"21","issue":"4","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.2831000089645386,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.2831000089645386,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.12110000103712082,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11081","display_name":"Advanced Control Systems Design","score":0.06480000168085098,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7892000079154968},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7245000004768372},{"id":"https://openalex.org/keywords/settling-time","display_name":"Settling time","score":0.6632000207901001},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.6004999876022339},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5353999733924866},{"id":"https://openalex.org/keywords/water-level","display_name":"Water level","score":0.5030999779701233},{"id":"https://openalex.org/keywords/transient","display_name":"Transient (computer programming)","score":0.49889999628067017},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4885999858379364}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7892000079154968},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7245000004768372},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7075999975204468},{"id":"https://openalex.org/C14781684","wikidata":"https://www.wikidata.org/wiki/Q3983320","display_name":"Settling time","level":3,"score":0.6632000207901001},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.6004999876022339},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5353999733924866},{"id":"https://openalex.org/C1284942","wikidata":"https://www.wikidata.org/wiki/Q1929501","display_name":"Water level","level":2,"score":0.5030999779701233},{"id":"https://openalex.org/C2780799671","wikidata":"https://www.wikidata.org/wiki/Q17087362","display_name":"Transient (computer programming)","level":2,"score":0.49889999628067017},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4885999858379364},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.45989999175071716},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.3864000141620636},{"id":"https://openalex.org/C98856871","wikidata":"https://www.wikidata.org/wiki/Q1588488","display_name":"Radial basis function","level":3,"score":0.37720000743865967},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.35359999537467957},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.3400999903678894},{"id":"https://openalex.org/C85761212","wikidata":"https://www.wikidata.org/wiki/Q1974593","display_name":"Transient response","level":2,"score":0.32510000467300415},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.32280001044273376},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2976999878883362},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.27619999647140503},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.2646999955177307},{"id":"https://openalex.org/C122383733","wikidata":"https://www.wikidata.org/wiki/Q865920","display_name":"Approximation error","level":2,"score":0.25600001215934753},{"id":"https://openalex.org/C2777027219","wikidata":"https://www.wikidata.org/wiki/Q1284190","display_name":"Constant (computer programming)","level":2,"score":0.2531999945640564}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.15837/ijccc.2026.4.7460","is_oa":true,"landing_page_url":"https://doi.org/10.15837/ijccc.2026.4.7460","pdf_url":"https://univagora.ro/jour/index.php/ijccc/article/download/7460/2526","source":{"id":"https://openalex.org/S147751515","display_name":"International Journal of Computers Communications & Control","issn_l":"1841-9836","issn":["1841-9836","1841-9844"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310314650","host_organization_name":"Agora University","host_organization_lineage":["https://openalex.org/P4310314650"],"host_organization_lineage_names":["Agora University"],"type":"journal"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"INTERNATIONAL JOURNAL OF COMPUTERS COMMUNICATIONS &amp; CONTROL","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.15837/ijccc.2026.4.7460","is_oa":true,"landing_page_url":"https://doi.org/10.15837/ijccc.2026.4.7460","pdf_url":"https://univagora.ro/jour/index.php/ijccc/article/download/7460/2526","source":{"id":"https://openalex.org/S147751515","display_name":"International Journal of Computers Communications & Control","issn_l":"1841-9836","issn":["1841-9836","1841-9844"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310314650","host_organization_name":"Agora University","host_organization_lineage":["https://openalex.org/P4310314650"],"host_organization_lineage_names":["Agora University"],"type":"journal"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"INTERNATIONAL JOURNAL OF COMPUTERS COMMUNICATIONS &amp; CONTROL","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.7889302968978882,"display_name":"Clean water and sanitation","id":"https://metadata.un.org/sdg/6"}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W7167605225.pdf","grobid_xml":"https://content.openalex.org/works/W7167605225.grobid-xml"},"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"addresses":[2],"the":[3,47,60,70,82,97,123,185,190,199],"problem":[4],"of":[5,59,65,75,106,122],"water-level":[6],"regulation":[7],"in":[8,50,69,193],"a":[9,34],"triple-tank":[10],"system,":[11],"where":[12],"strong":[13,98],"nonlinearities,":[14],"dynamic":[15],"coupling,":[16],"external":[17],"disturbances,":[18],"and":[19,102,114,131,143,157,175,179,211,220],"parameter":[20],"uncertainties":[21],"pose":[22],"significant":[23],"challenges":[24],"for":[25,45],"conventional":[26,218],"model-based":[27],"control":[28,41,79,223],"methods.":[29],"To":[30],"overcome":[31],"these":[32],"limitations,":[33],"Radial":[35],"Basis":[36],"Function":[37],"Neural":[38],"Network":[39],"(RBFNN)\u2013based":[40],"strategy":[42,80],"is":[43,126,161],"proposed":[44,94,124,186],"regulating":[46],"water":[48,146,191],"level":[49,147,192],"Tank":[51,194],"3":[52,195],"without":[53],"requiring":[54],"an":[55,76],"accurate":[56],"mathematical":[57],"model":[58],"system.":[61],"The":[62,93,120],"main":[63],"contribution":[64],"this":[66],"work":[67],"lies":[68],"real-time":[71,132,158,180],"hardware-in-the-loop":[72],"(HIL)":[73],"implementation":[74],"adaptive":[77],"RBFNN-based":[78],"using":[81,164],"OPAL-RT":[83],"OP5707XG":[84],"platform,":[85],"enabling":[86],"practical":[87],"validation":[88],"under":[89,116],"realistic":[90],"operating":[91,118],"conditions.":[92,119],"controller":[95,188],"exploits":[96],"nonlinear":[99],"approximation":[100],"capability":[101],"fast":[103],"learning":[104],"characteristics":[105],"RBFNNs":[107],"to":[108,149,196],"enhance":[109],"tracking":[110,214],"accuracy,":[111,153],"transient":[112,154],"performance,":[113],"robustness":[115],"varying":[117,145],"effectiveness":[121],"method":[125],"evaluated":[127,163],"through":[128],"MATLAB/Simulink":[129],"simulations":[130],"HIL":[133],"experiments.":[134],"Two":[135],"representative":[136],"experimental":[137,181],"scenarios":[138],"are":[139],"considered,":[140],"including":[141],"constant":[142],"continuously":[144],"references,":[148],"comprehensively":[150],"assess":[151],"steady-state":[152],"response,":[155],"adaptability,":[156],"performance.":[159],"Performance":[160],"quantitatively":[162],"standard":[165],"error-based":[166],"indices":[167],"such":[168],"as":[169],"RMS,":[170],"MAE,":[171],"Mean":[172],"Error,":[173],"IAE,":[174],"ISE.":[176],"Both":[177],"simulation":[178],"results":[182],"demonstrate":[183],"that":[184],"RBFNN":[187],"enables":[189],"accurately":[197],"track":[198],"desired":[200],"reference":[201],"trajectories":[202],"with":[203,217],"reduced":[204],"overshoot,":[205],"faster":[206],"settling":[207],"time,":[208],"smoother":[209],"responses,":[210],"lower":[212],"cumulative":[213],"error":[215],"compared":[216],"PID":[219],"sliding":[221],"mode":[222],"(SMC).":[224]},"counts_by_year":[],"updated_date":"2026-07-19T07:52:34.831488","created_date":"2026-07-08T00:00:00"}
