First case study: Four-tank system (Johansson and Nunes,1997)

• Manipulated inputs:

  • Pump 1 V
  • Pump 2 V

• Controlled outputs:

  • Tank 1 level
  • Tank 2 level

• Unmeasured

disturbances:

• Leak from tanks
• Input bias

3

4

1

2

Pump 1

Pump 2

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