Theory:

 Step response of single capacity system:

𝑡
𝐻(𝑡) = 𝐴𝑅(1 − 𝑒 −𝜏 )

 Step response of first order systems arranged in non- interacting mode:

In non-interacting system we assume the tanks have uniform cross sectional area and the
flow resistance is linear. To find out the transfer function of the system that relates h2 to q,
writing a mass balance around the tanks, as mentioned in the appendix.

𝑡 𝑡
− −
1 𝑒 𝜏1 𝑒 𝜏2
𝐻2 (𝑡) = 𝐴𝑅2 (1 − 𝜏 ( − ))
1 −𝜏2 𝜏2 𝜏1

 To study impulse response of first order systems arranged in noninteracting mode:

𝑡 𝑡
− −
𝑉𝑅2 [𝑒 𝜏1 −𝑒 𝜏2 ]
𝐻2 (𝑡) =
𝜏1 − 𝜏2

 Step response of first order systems arranged in interacting mode:

Assuming the tanks of uniform cross sectional area and valves with linear flow resistance the
transfer function of interacting system can be written as:
1 1 1
𝐻2 (𝑡) = 𝐴𝑅2 (1 − ( 𝑒 𝛼𝑡 − 𝑒𝛽𝑡 ))
1 1 𝛼 𝛽
𝛼−𝛽
Where α and β are defined in the appendix.
In terms of transient response the interacting system is more sluggish than the
noninteracting system.

 Impulse response of first order systems arranged in interacting mode:

Overall transfer function of the system can be given as:
𝑉𝑅2 [𝑒 𝛼𝑡 − 𝑒 𝛽𝑡 ]
𝐻2 (𝑡) =
𝜏1 𝜏2 (𝛼 − 𝛽)
Where α and β are as defined in previous part
𝑑𝐻 𝑑𝐻
And, 𝑅1 = 2 𝑑𝑄1 and 𝑅2 = 2 𝑑𝑄2