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A fixed-free methodology is exhibited which can be used to simplify the controller design procedure. To get an adjustable convergent gain of the finite-time control, a feasible technique named damping normalization is proposed. A novel parameter autotuning algorithm is given to clarify the principle of choosing parameters of the PCH method. Furthermore, a finite-time controller is designed by a state-error desired Hamiltonian function, and the relationship between the settling time and a parameter is given, which can be applied in practical engineering easily to adjust the settling time according to the industrial need. Finally, simulation and experimental results verify the effectiveness of the proposed algorithm.<\/jats:p>","DOI":"10.1155\/2020\/5320756","type":"journal-article","created":{"date-parts":[[2020,11,28]],"date-time":"2020-11-28T21:05:05Z","timestamp":1606597505000},"page":"1-14","source":"Crossref","is-referenced-by-count":2,"title":["Finite-Time Control for a Coupled Four-Tank Liquid Level System Based on the Port-Controlled Hamiltonian Method"],"prefix":"10.1155","volume":"2020","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-3352-4110","authenticated-orcid":true,"given":"Tao","family":"Xu","sequence":"first","affiliation":[{"name":"School of Automation, Qingdao University, No. 308 Ningxia Road, Qingdao 266071, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5250-7386","authenticated-orcid":true,"given":"Haisheng","family":"Yu","sequence":"additional","affiliation":[{"name":"School of Automation, Qingdao University, No. 308 Ningxia Road, Qingdao 266071, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5432-1702","authenticated-orcid":true,"given":"Jinpeng","family":"Yu","sequence":"additional","affiliation":[{"name":"School of Automation, Qingdao University, No. 308 Ningxia Road, Qingdao 266071, China"}]}],"member":"311","reference":[{"key":"1","doi-asserted-by":"publisher","DOI":"10.1016\/j.jprocont.2019.01.006"},{"key":"2","doi-asserted-by":"publisher","DOI":"10.1109\/tcst.2013.2250504"},{"key":"3","doi-asserted-by":"publisher","DOI":"10.1049\/iet-cta.2014.0549"},{"key":"4","doi-asserted-by":"publisher","DOI":"10.1007\/s00521-004-0405-4"},{"key":"5","doi-asserted-by":"publisher","DOI":"10.1007\/s40313-018-0373-z"},{"key":"6","doi-asserted-by":"publisher","DOI":"10.1109\/tac.1963.1105520"},{"issue":"5","key":"7","doi-asserted-by":"crossref","first-page":"339","DOI":"10.1016\/S0167-6911(99)00115-2","article-title":"Adding one power integrator: a tool for global stabilization of high-order lower-triangular systems","volume":"39","author":"L. 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