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07 - Chapter 2 PDF
07 - Chapter 2 PDF
CHAPTER 2
2.1 INTRODUCTION
coefficient az3 and located at tank 3. The control objective is to control level
of tank 1 and tank 3 by manipulating the inflow rates q1 and q2.
Pump 1 Pump 2
S
q1
q2
Sc
az2
h1 az1 h2 h3 az3
dh 1 q 1 - S1 a z1 sgn (h 1 - h 2 ) 2g( h 1 - h 2 )
=
dt S
dh 2 S1 a z1 sgn (h 1 - h 2 ) 2g( h 1 - h 2 ) - S2 a z2 sgn (h 2 - h ) 2g( h 2 - h 3 )
= 3
(2.1)
dt S
dh 3 q 2 + S2 a z2 sgn (h 2 - h ) 2g( h 2 - h 3 ) - S3 a z3 2gh 3
= 3
dt S
Parameters Values
Tank cross-section area S = 0.0171 m2
Pipe cross- section area SC = S1 = S2 = S3 = 0.00005 m2
Pipe outflow coefficients az1= 0.511, az2 = 0.5279, az3 = 0.7313
Maximum level h max= 0.68 m
Maximum in-flow rate q max=1.2 × 10-4 m3/s
where,
b b
1 1 0
f1 f1 f1
h1 - h 2 h1 - h 2
h h h
1 2 3 b b b b
1 1 2 2 ,
f f f
AC 2 2 2 h1 - h 2 h1 - h 2 h 2 - h3 h 2 - h3
h1 h2 h3
b b b3
f f f 0 2 2
3 3 3 h 2 - h3 h 2 - h3 h3
h h h
1 2 3
dh1 dh 2 dh 3
f1 , f2 , f3
dt dt dt
f1 f1 1
0
q1 q2 S
f2 f2
BC 0 0
q1 q2
f3 f3
1
0
q1 q2 S
31
x1 h1 - h1o
x = x 2 = h 2 - h 2o
x3 h 3 - h 3o
u1 q1 - q1o
u= =
u q -q
2 2 2o
where [h10, h20, h 30] and [q10, q 20] are steady state operating points of level and
flow rate respectively.
a z × S1 × 2g a z × S2 × 2g a z × S3 × 2g
b1 = 1 , b2 = 2 , b3 = 3
2×S 2×S 2 ×S
The continuous state space model for the parameters in Table 2.1 is
as given below
x (k + 1 ) = A x (k ) + B u (k )
(2.3)
y(k ) = C x (k )
where
x(k), u(k) and y(k) are the state, input and output vectors of discrete model
respectively.
where xf (t) and yf (t) are the state and output vectors of faulty system in
continuous form respectively and faulty system state matrix Acf = Ac, faulty
system input matrix Bcf = (1- ) Bc and faulty system output matrix Ccf = Cc .
x (k + 1) = A x (k) + B u (k)
f f f f f (2.5)
y (k) = C x (k)
f f f
where xf (k) and yf (k) are the state and output vectors of faulty system in
discrete form respectively. Af, Bf and Cf are the state, input and output
matrices of faulty system in discrete form respectively.
0.01046 0.01046 0
11.7 0
1 0 0
A
cf
AC 0.01046 0.02127 0.01081 , B
cf
0 0 and C
cf
CC
0 0 1
0 58.48
0 0.01081 0.0183
2.4 SUMMARY