This paper presents the use of gain scheduling strategy to solve the control problem of a level system, essentially non-linear. The topology to be addressed is of the multi-model type, so that local mathematical representations will be estimated experimentally and these will compose the calculation of a range of gains for tuning a 2-degree of freedom (2DOF) PID controller. By alternating KP (Proportional Gain) and KI (Integral Gain) according to the setpoint, it was possible to obtain a satisfactory compromise between control effort and system performance.
