The presentation deals with design of a robust controller via algebraic µ‑synthesis for the two tank system, which is a well known benchmark problem.

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