Diagnosis and FTC by Prof. Blanke [pdf] - NTNU

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Example 5.3: tank system
F = H= A JA H H
D
K J
+ JH
= C HEJD
O J
A L A I A I H
D
6 =
G E J
Single tank system example 5.3
Tank c 1: h(t) = q i(
t) − qo( t)
Input valve c 2 : q() i t = αu()
t
Output pipe c 3 : q o(
t) = k h( t)
Level sensor c 4 : yt ( ) = ht ( )
Control algorithm c 5 : ut ( ) =
⎧1
if y( t) < h0
⎨
⎩0
otherwise
dh() t
differential constraint: c6: h( t)
=
dt
F = H= A JA H H
D
K J
+ JH
= C HEJD
O J
A L A I A I H
G J
D
Mogens Blanke – Spring 2006
6 =
G E J
G J
Mogens Blanke – Spring 2006
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