A comparison of Gain Scheduling PID and $\mu$-Synthesis Robust Level Control for a Conical Tank System

Level Control for tanks systems are a great challenge due to the non-linear behaviour in the process. In order to cover that task, this paper proposes a Gain Scheduling PID and a $\mu-$Synthesis Robust controllers comparison. A modeling of a conical tank level system is described for its linearization, and PSO algorithm is implemented to PID controllers. The final comparison details the step response with disturbance over three selected liquid heights and the performance of each controller described as ITAE,IAE and ISE values. Robust controller presents better results, however, its control signals make it difficult to implement in a real valve. Alternatively, Gain Scheduling PID controller presents more realistic results, but its implementations requires design a PID controller for each operating point.