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This test should be made individually and be handed in after one week. If desirable use
Matlab routines (see file SCT_ml.zip on https://edu2.web.wur.nl/ page:
COURSES > {3} SCO-31306 SYSTEMS AND CONTROL THEORY... > ASSIGNMENTS > PRACTICAL
ASSIGNMENTS AND EXERCISES PART 1: MULTIVARIABLE LINEAR SYSTEMS AND FEEDBACK CONTROL
[Assignment 1: 1a-c]
dy (t )
= ay (t )
dt
a. Present this model in a state space form and explain the result.
[Assignment 1: 2a-f]
dx1
= ax1 + b1u1 kx1 x2
dt
dx2
= ax2 + b2 x2,in kx1 x2
dt
This could be the model of a continuous stirred tank reactor (CSTR) with constant
volume V, substrate concentrations x1 (metal), x2 (sulfide) and fixed input flows Q1
and Q2. Hence, a = (Q1 + Q2)/V, u1 = x1, in, b1 = Q1 /V, b2 = Q2 /V, u2 = x2, in is inflow
concentration (disturbance) and k is the precipitation constant.
a. Interpret this model (linear/non-linear, order of the system etc.) and give a
physical interpretation for each of the six terms on the right-hand side of this
relationship.
b. Let us try to maintain the amount of metal and sulfide at the steady state
values x1 and x2 . Show that the related inputs u1 and u2 can be found from:
u1 = (a + kx2 ) x1 / b1
u2 = (a + kx1 ) x2 / b2
and give conditions under which this steady state solution holds.
e. Derive conditions for the parameters a, b1, b2, and k under which the system is
(asymptotically) stable in the point ( x1 , x2 , u1 , u 2 ). Explain your answer.