Robust control of a pH control plant

We are going to present how we designed robust controllers for a laboratory plant, which produces a dissolution of HCl of constant concentration despite variations in the plant parameters. To design the controllers by loopshaping we used the CC control package and the ACSL simulation software. The designed control system allowed us to operate in a wide range of pH values in spite of the variation of the plant parameters and disturbances. The performance at every working point is satisfactory, and the system is stable in the desired range of parameter variations