Advanced control engineering (S.R. Burns, 2001)

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QL

m3s

Increasing Xv

Linearized

Relationship

Ps PL (Pa)

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c(t)

Steady-state

Error

r1(t)

K1K large

r2(t)

K1K small

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c(t)

r1(t)

r2(t)

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u(t)

Control Valve

hd(t)

Kv

v1(t)

hm(t)

PI

Controller

Tank

ha(t)

Area A

Outlet valve

v2(t)

Pressure transducer

Resistance Rf

H1

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