Abstract
This work seeks to contribute to the study of techniques for level control considering a nonlinear plant model. To achieve this goal, different approaches are applied to classical control techniques and their results are analyzed. Fuzzy Logic Control (FLC), Artificial Neural Network (ANN), Adaptive Neuro-Fuzzy Inference System (ANFIS), Model Predictive Control (MPC) and Nonlinear Auto-Regressive Moving Average (NARMA-L2) controllers are designed for the level control of a spherical tank. Subsequently, several tests and scenarios similar to those present in industrial processes are established, while the transient response of the controllers, their performance indices for monitoring the reference value, the rejection of disturbances, the presence of parameter uncertainties and the effects of noise are analyzed. The results show good reference tracking, with a settling time of approximately 5 s for 5 cm and a rise time of less than 4 s. No evidence for steady-state error or overshoot was found and controllers behave positively in the diverse scenarios assessed. The FLC and ANN controllers showed the greatest limitations, while ANFIS, MPC and NARMA-L2 exhibited competitive results considering their transient response and the performance indices calculated.