Mechatronics (Hugh 2001) P2

Now consider a cascade controller for a multistage process, such as a sewage treatment plant with sequential tanks with varying flow rates. Here the disturbance would be the sewage flowing into the first tank. the two process blocks are the treatment tanks. The output is water returned to rivers The controllers vary the flow rates by looking at parameters for both tanks. dn + + rn G c1 + Hf G c2 + Gp1 Gp2 rn • To do design/analysis for these controllers we do an analysis of the innermost feedback loop. This then becomes a process, and we do...