ASSIGNMENT

ON
OPTIMAL CONTROL THEORY

SUBMITTED BY:

RABIYA AZMAT

M.TECH(CIS) -13
 Question No. 1.6 :

A chemical mixing process is shown in fig. below. Water enters the tanks at rates
of w1(t) and w2(t) ft3/min and m(t) ft3/min of dye enters tank 1. v1(t) and v2(t) ft3
of dye are present in tanks 1 and 2 at time t. The tanks have cross-sectional areas
a1 and a2. Assume that flow rate between the two tanks q(t), is proportional to the
difference in head with proportionality constant k ft3/ft-min, and that the mixtures
in the tanks are homogeneous. Write the differential equations of the system ,
using h1(t),h2(t), v1(t) and v2(t) as state variables.

Solution:

Taking h1(t),h2(t), v1(t) and v2(t) as state variables,

dh1/dt = w1(t)/a1 + m(t)/a1 k.[h1(t) h2(t)]/a1

dh2/dt = w2(t)/a2 k.[h1(t) h2(t)]/a2

dv1(t)/dt = { m(t) k.v1(t). [h1(t) h2(t)]/a1.h1(t) for h1(t) >=h2(t)

m(t) + k.v2(t). [h2(t) h1(t)]/a2.h2(t) for h2(t) >=h1(t) }

dv2(t)/dt = { k.v1(t). [h1(t) h2(t)]/a1.h1(t) for h1(t) >=h2(t)

- k.v2(t). [h2(t) h1(t)]/a2.h2(t) for h2(t) >=h1(t) }