By Walter Philipp

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X1 ðtÞ nðtÞ ¼ and yðtÞ ¼ nðtÞ: x2 ðtÞ pðtÞ The nonlinear state equation becomes ! ApðtÞ À cnðtÞ f1 ðxðtÞ; uðtÞÞ p ﬃﬃﬃﬃﬃﬃﬃﬃ _ : xðtÞ ¼ ¼ ak pðtÞuðtÞ À AnðtÞ f2 ðxðtÞ; uðtÞÞ After defining the variables and their deviations by the expressions nðtÞ ¼ n0 þ ÁnðtÞ; pðtÞ ¼ p0 þ ÁpðtÞ; qðtÞ ¼ q0 þ ÁqðtÞ; the linear state model can be derived. 9. 18 shows water tank process for which a model is to be formulated. Fig. 18 Water tank process plant Control valves u1 u2 Tw Level measurement Tc Qw y1 Qc Tank L H1 T1 Tank R T2 H2 Qb Stirrer Qr y2 Valve area Av Temperature measurement Two tanks denoted L and R are connected as shown and into the left tank can be pumped warm and cold water through control valves with the two input signals U1 and U2.

19. The natural choice of states is the output variables of the four integrators. The outlet valve area and the two inlet temperatures are disturbances and the two control valve voltages are the manipulable inputs. So, state, input and disturbance vectors will be: 2 3 2 3 2 3 2 3 H1 x1 ! Av n1 6 x 2 7 6 H2 7 u 1 7 6 7 4 5 4 5 xðtÞ ¼ 6 4 x3 5 ¼ 4 T1 5; uðtÞ ¼ u2 ; vðtÞ n2 ¼ Tw : n3 Tc x4 T2 u1 u2 ka ka (2:95) Qw + Qc + H1 1 --A _ Qr + + Co _ y1 H2 x2 1 --A _ x1 kh Qb Av Tw + v2 Tc + v3 Dv * v1 + * _ / + 1 --A T1 x3 _ * + * Fig.

It is assumed that the rocket moves in a vertical direction and that the long axis of the rocket is constantly vertical. A sketch of the rocket is shown in Fig. 17. The x position axis points upwards and the velocity is called v. Newton’s second law says that m_n ¼ ÀFa À Fg þ T ¼ Æbn2 À mg þ T x, v Fa Fg T Fig. 17 A rocket in vertical motion 32 2 State Space Modelling of Physical Systems or n_ ¼ Æ b 2 1 n À g þ T ¼ fðn; TÞ; m m (2:73) where m is the mass (which is assumed to be constant here), b is the air resistance coefficient, g is the acceleration due to gravity and T is the thrust.