Case Study: Quadruple-tank Process

A schematic diagram of a process is shown above. The target is to control the level in the lower two tanks with two pumps. The process inputs are v1 and v2 (input voltages to the pumps) and the outputs are y1 and y2 (voltages from level measurement devices). Mass balances and Bernoullis law yield the following model:

Implement the model in Simulink and study the open-loop step response for v1=v2=1, v1=v2=3, and v1=v2=3.15. Compare and discuss the responses.

Linearise the model around the following two sets of operating points

Write a Matlab program to calculate the two state-space models. Use Simulink to compare your state-space model step responses with the nonlinear model for v1=v2=3, and v1=v2=3.15. Change your state-space model to transfer function matrices for the two operating points. Calculate all the poles, zeros and the time constants for the two model, discuss your results. Use Simulink to implement two PID controller (v1,y1) and (v2,y2). Tune the PIDs for minimum overshoot and fastest