Robust geometric control of a two-tank system

This paper presents modeling and control of a two-tank system. The system is a multivariable nonlinear system with parametric uncertainty. The control objective is to regulate the water level in each tank. First, a nonlinear geometric control law, exact feedback linearization is designed in inner loop to cancel the nonlinearity of nominal system. Then, two types of robust H∞ controllers (H∞ static state feedback controller and fixed structure PID H∞ controller) are designed in outer loop to handling parametric uncertainty. Control performances via simulation show that H∞ static state feedback controller with exact feedback linearization gives better results.