Passivity based level controller design applied to a nonlinear SISO system

Passivity theory has been applied to various nonlinear systems in recent years. In this work passivity based control technique is applied to control the liquid level of the conical tank system in order to demonstrate its applicability to nonlinear SISO system which may be further extended to complex MIMO systems. Though the system is simple it has nonlinearity present in it so there is need to come up with new control techniques. The performance of the proposed passivity based controller is compared with the Ziegler Nichols tuned PI controller and Min ITAE Rovira PI controller based on the parameters like maximum peak overshoot, settling time, Integral Square Error (ISE) and Integral Time Absolute Error (ITAE).