%CONTROL DE NIVEL DE 2 TANQUES EN CASCADA

Dt=3;
Dt1=1.5;
k=0.5;
k1=2;
Ds=0.2;
Ds1=0.3;
L=0.707; %Lo=2 m
L1=0.577; %L01=3 m
g=9.81;
At= pi*(Dt^2)/4;
At1= pi*(Dt1^2)/4;
As=pi*Ds*Ds/4;
As1=pi*Ds1*Ds1/4;
A=[-sqrt(2*g/(1+k))*As*L/At 0; sqrt(2*g/(1+k))*As*L/At -
sqrt(2*g/(1+k1))*As1*L1/At1 ];
B=[1/At 0; 0 1/At1];
C=[1 0; 0 1];
D=[0 0; 0 0];
SS=ss(A,B,C,D);
Gpg=tf(SS)
Gp11=Gpg(1,1)
Gp21=Gpg(2,1)
Gp12=Gpg(1,2)
Gp22=Gpg(2,2)
% figure(1)
% step(0.05*Gp11)
%ENTRADA 1 Qe SALIDA 2 h2
figure(2)
step(Gp21)
% figure(3)
% step(0.05*Gp12)
%ENTRADA 2 Qe1 SALIDA 2 h2
figure(4)
step(Gp22)
%impulse(Gp,2)
%esta planta no puede controlarse en lazo abierto
[Gc, info]= pidtune(Gp21,'PIDF', 0.5)
H1=feedback(Gc*Gp21, 1)
figure(5)
step(0.05*H1)
[Gc, info]= pidtune(Gp22,'PIDF', 0.5)
H2=feedback(Gc*Gp22, 1)
figure(6)
step(0.05*H1)