Figure P4.16 shows the model of a two-tank system containing a heated liquid, where T0 is the temperature of the fluid flowing into the first tank and T2 is the temperature of the liquid flowing out of the second tank. The system of two tanks has a heater in the first tank with a controllable heat input Q. The time constants are Ñ‚1 = 10 s and Ñ‚2 = 50 s.
(a) Determine T2(s) in terms of T0(s) and T2d(s).
(b) If T2d(s), the desired output temperature, is changed instantaneously from T2d(s) = A/s to T2d(s) = 2A/s, where T0(s) = A/s, determine the transient response of T2(t) when Gc(s) = K = 500.
(c) Find the steady-state error exx for the system of part (b), where E(s) = T2d(s) - T2(s).
Figure P4.16
Two-tank temperature control.

Transcribed Image Text:

Tols) 0(s) /100 G,(s) To(s) E(s)