In this paper, a feedforward-plus-sliding mode controller is proposed. The combination uses a feedforward controller to achieve predefined process output and the sliding mode controller is combined to assure the robustness despite uncertainty, nonlinear dynamics, and external disturbances. The effectiveness of proposed method is shown by simulations on nonlinear models of a coupled tanks system and then validated by performing a real-time experiment on the system. The studies show the improved setpoint tracking of the proposed controller compared with the classical PI controller.