Ber Lab Mi Mo Condes
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Transcript of Ber Lab Mi Mo Condes
8/10/2019 Ber Lab Mi Mo Condes
http://slidepdf.com/reader/full/ber-lab-mi-mo-condes 1/14
8/10/2019 Ber Lab Mi Mo Condes
http://slidepdf.com/reader/full/ber-lab-mi-mo-condes 2/14
8/10/2019 Ber Lab Mi Mo Condes
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y1
y2
Tank 1 Tank 2
Tank 4Tank 3
u2
Pump 2Pump 1
u1
1 2
1 2
8/10/2019 Ber Lab Mi Mo Condes
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8/10/2019 Ber Lab Mi Mo Condes
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(
)
(
)
(
)
0
1
(
)
(
(
))
(
)
(
1(
))
(
(
))
(
(0))
8/10/2019 Ber Lab Mi Mo Condes
http://slidepdf.com/reader/full/ber-lab-mi-mo-condes 6/14
G(s)
-
r uF(s)
y++
+
+
+
−
r1
r2 u2
u1 y1
y2
G(s)
f1(s)
f2(s)+−
(
)
(
)
2
2
1 1
1(
) 2 1
2(
) 1 1 2 2
(
) =
1(
) 00
2(
)
1 2 2 1 ( )
(
) =
0 2(
) 1(
) 0
(
) =
1 + 1
+
4
8/10/2019 Ber Lab Mi Mo Condes
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8/10/2019 Ber Lab Mi Mo Condes
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0
0
1
=
3
= 0
1
8/10/2019 Ber Lab Mi Mo Condes
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˜
= 2
˜
=
1
1
˜
˜
˜
(
)
2(
)
(
)
1(
)
˜
2 =
˜
˜
1(
) 2(
)
= 0
=
1 2
2 = 1 =
1(0)
= 1
1 2 2
8/10/2019 Ber Lab Mi Mo Condes
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2 =
˜
(
)
0
0 1
˜
˜
(
)
˜
(
)
˜
(
)
=
3
= 0
1
(
) =
1(0) ˜
(
)
8/10/2019 Ber Lab Mi Mo Condes
http://slidepdf.com/reader/full/ber-lab-mi-mo-condes 11/14
8/10/2019 Ber Lab Mi Mo Condes
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= 1
= 2
1(
)
˜
(
)
0
0
1
˜
˜
(
)
˜
(
)
˜
(
)
=
3
= 0
1
(
) = 1(
) ˜
(
)
8/10/2019 Ber Lab Mi Mo Condes
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¯ 1
2 2 =
¯ 1 =
1
1
= 0
= 2
¯ 1
4
¯ 1
ˆ
= ¯ 1
2
[
]
1 2
1 2
8/10/2019 Ber Lab Mi Mo Condes
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= 1
2
3
= 0
01
= ( 0 11 0
)
