Decoupled control of two tank system via algebraic μ-synthesis

The paper deals with design of a robust controller via algebraic mu-synthesis for two tank system, which is a well known benchmark problem. The controller is designed by decoupling two-input two-output system into two identical SISO (Single-Input Single-Output) plants. The task of designing the robust controller is then performed by finding a suitable pole placement for the SISO systems with the robustness assessed by structured singular value denoted mu for generalized plant. The final controller is compared with D-K iteration as a standard tool for mu-synthesis through simulation for nominal plant and plant perturbed by the worst case perturbation.