Department Agrotechnology and Food Sciences

Systems and Control Group

Systems and Control Theory Assignment 1 - Jan. 9, 2006

This test should be made individually and be handed in after one week. If desirable use
Matlab routines (see file SCT_ml.zip on https://edu2.web.wur.nl/ page:
COURSES > {3} SCO-31306 SYSTEMS AND CONTROL THEORY... > ASSIGNMENTS > PRACTICAL
ASSIGNMENTS AND EXERCISES PART 1: MULTIVARIABLE LINEAR SYSTEMS AND FEEDBACK CONTROL

[Assignment 1: 1a-c]

1. Given the differential equation model

dy (t )
= ay (t )
dt

a. Present this model in a state space form and explain the result.

b. Is this system causal? Linear? Time-invariant? Explain your answers.

c. Give an interpretation of the model for the case a = 0. And, what if a = 1?

[Assignment 1: 2a-f]

2. Consider the following class of dynamical systems, which frequently appears

when modeling precipitation processes,

dx1
= ax1 + b1u1 kx1 x2
dt
dx2
= ax2 + b2 x2,in kx1 x2
dt

This could be the model of a continuous stirred tank reactor (CSTR) with constant
volume V, substrate concentrations x1 (metal), x2 (sulfide) and fixed input flows Q1
and Q2. Hence, a = (Q1 + Q2)/V, u1 = x1, in, b1 = Q1 /V, b2 = Q2 /V, u2 = x2, in is inflow
concentration (disturbance) and k is the precipitation constant.

a. Interpret this model (linear/non-linear, order of the system etc.) and give a
physical interpretation for each of the six terms on the right-hand side of this
relationship.

b. Let us try to maintain the amount of metal and sulfide at the steady state
values x1 and x2 . Show that the related inputs u1 and u2 can be found from:
 u1 = (a + kx2 ) x1 / b1
u2 = (a + kx1 ) x2 / b2

and give conditions under which this steady state solution holds.

c. Linearise this system around the steady state values ( x1 , x2 , u1 , u2 ) and

substitute the expressions given in b) for u1 and u 2 .

d. Present the system for the case: k 0 . Interpret the result.

e. Derive conditions for the parameters a, b1, b2, and k under which the system is
(asymptotically) stable in the point ( x1 , x2 , u1 , u 2 ). Explain your answer.

f. Present the simulation results of a step response (that is e.g. from u1 (t ) = u1 to

u1 (t ) = u1 + 0.1 at an appropriate time instant) using the original non-linear
system and the linearised system in one figure for a = 0.1 1/h, b1 = 4 1/h, b2 =
2 1/h, k = 108 1/mole.h and steady states x1 = 0.004 mole/l and x2 = 0.002
mole/l.