Abstract
This paper considers the design and implementation of robust multivariable controllers for a real process control plant. The plant used for experimental tests is intended to control output flow rate and level of a product tank. First, a detailed description of a method for finding and representing uncertainties is presented. Next, a robust control is designed using the µ synthesis. Comparisons of uncertainties (structured) parametric and non-parametric are also presented. They show how conservative the µ analysis could be and, in some cases, how to reduce the conservatism.
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