Proceedings of the ThPI23.

22
46th IEEE Conference on Decision and Control
New Orleans, LA, USA, Dec. 12-14, 2007

Mathematical Modeling, System Identification,

and Controller Design of a Two Tank System

J. A. Ramos1 and P. Lopes dos Santos2

2 Department of Engineering & Technology

University of Wisconsin – Stout

330 Fryklund Hall
Menomonie, WI 54751
and
1 Faculdade de Engenharia da Universidade do Porto

Departamento de Engenharia Electrotécnica e de Computadores

Rua Dr. Roberto Frias
4200 465 Porto, Portugal

Abstract— In this paper we present a case study involving
mathematical modeling, system identification, and controller
design of a two tank fluid level system. The case study is
motivated by a realistic application of a two tank problem.
We address some fundamental control oriented issues such as
physical plant design and identification, transformation from
discrete-time to continuous-time, and finally the controller
design. We also introduce a novel physical system identification
algorithm consisting of subspace identification, followed by a
similarity transformation computation to extract the physical
parameters of the system. The controller design is done by Pole
Placement.
I. I NTRODUCTION
Control engineering is one of those fields considered to be
rich in applications that affect just about every aspect of
modern life. By today’s standards, affordable commodities
such as cruise control in automobiles, compact disc and
DVD players, toasters, and autofocus SLR cameras, to name
only a few, abound in control applications. With the growing
trend of affordable and scalable electronic components,
control engineering will whiteness the evolution of new and
more challenging applications that not only will enhance
our comfort levels, but will also revolutionize industries
such as health care, aerospace, automotive, defense, and
even the environment.
Designing a model-based controller usually requires a plant
model, which is normally obtained from first principles.
However, the parameters of the model are normally unknown
and need to be estimated from experimental data. Parameter
estimation methods are typically nonlinear and iterative,
which could lead to convergence problems. Furthermore,
there is also the fundamental issue of some plant model
being continuous state-space models but the data is discrete.
Thus, estimating the parameters of a continuous state-space
model with discrete data could lead to numerical problems.
In this paper we present a parameter estimation method for
continuous-time state-space models with discrete data. The
idea is to first identify a discrete-time state-space model
by any subspace algorithm such as CVA [4], N4SID [8],
or MOESP [6]. One then converts the discrete-time model
to continuous-time using the algorithm of [7]. Then apply
a similarity transformation to obtain a nonlinear system
of equations which can be converted into an orthogonal
complement problem. The solution leads to the similarity
matrix and the physical parameters of the system. Once the
actual plant parameters are obtained, one can proceed to
designing the controller.
In this paper we present a detailed case study of a con-
trol design problem. The case study emphasizes building a
mathematical model of a two tank fluid system, followed by
system identification and parameter estimation, and finally
designing a controller that will control the fluid level in the
second tank. The controller design is done by pole placement.
The rest of the paper is organized as follows: In section
2 we present the mathematical model of the two tank
system. In section 3 we introduce the system identification
and parameter estimation method and calculate these based
on input and output data. In Section 4 we perform the
controller design step. Finally, in Section 5 we present some
conclusions.
II. M ATHEMATICAL M ODELING
The physical law governing the behavior of the liquid level
system as described here is the principle of conservation of
mass, which states that the time rate of change of the fluid
mass inside the tank is equal to the mass flow rate in (ρqi (t))
minus the mass flow rate out (ρqo (t)) of the tank at time t.
That is, if we take V (t) = Ah(t) to be the volume of the
tank at time t, then the mass is equal to m(t) = ρV (t), and
the conservation of mass equation becomes
d
(ρAh(t)) = ρqi (t) − ρqo (t), (1)
dt
where A is the area of the tank, h(t) is the fluid level
at time t, and ρ is the fluid density. We assume the

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46th IEEE CDC, New Orleans, USA, Dec. 12-14, 2007 ThPI23.22

outflow rate qo (t) to be a linear function of the fluid level in (b) Continuity equation for Tank 2:
the tank, i.e., qo (t) = αh(t), where α is the valve coefficient.
α1 α2
ḣ2 (t) − h1 (t) + h2 (t) = 0, (3)
Consider the two tank liquid level system shown in Figure A2 A2
1, where the given information is as follows: where α1 and α2 are the valve coefficients for tanks 1
qi (t) = Inflow rate entering tank 1 at time t. and 2, respectively.
d
q12 (t) = Inflow rate exiting tank 1 and entering If we let D = dt be the derivative operator, then we can
write (2) and (3), respectively, as
tank 2 at time t. µ ¶
qo (t) = Outflow rate exiting tank 2 at time t. α1 1
D+ h1 (t) = qi (t) (4)
A1 A1
h2 (t) = Height of water in tank 2 at time t.
D1 = Diameter of tank 1 (area A1 ). µ
α2
¶
α1
D+ h2 (t) = h1 (t). (5)
D2 = Diameter of tank 2 (area A1 ). A2 A2
h2 (0) = Initial height of water in tank 2 at time 0. ³
α1
´
Now multiplying (5) by D + A , we obtain
ḣ2 (0) = Initial rate of change of height of water in 1
µ ¶µ ¶
tank 2 at time 0 α1 α2
D+ D+ h2 (t)
hD (t) = Desired water level in tank 2 at time t. A1 A2
µ ¶ µ ¶
α1 α1
= D+ h1 (t) . (6)
A1 A2
³ ´
α1
We can now eliminate the term D + A 1
h1 (t) in (6) by
the term on the right hand side of (4). That is,
u(t) µ ¶ µ ¶
Dα1 Dα2 α1 α2 α1
D2 + + + h2 (t) = qi (t).
qi(t) A1 A2 A1 A2 A1 A2
Finally, we can simplify this last equation to yield
Controller ḧ2 (t) + 2ξωn ḣ2 (t) + ωn2 h2 (t) = βqi (t), (7)
K
h1(t) where we have defined the parameters as
D1
α1 A2 + α2 A1
2ξωn = (8)
A1 A2
hD (t) − h2(t) α1 α2
ωn2 = (9)
A1 A2
q12(t) α1 ω2
β = = n, (10)
A1 A2 α2
from which one can obtain
r
h2(t)
α1 α2
D2 ωn = = undamped natural frequency, rad/s
A1 A2
α1 A2 + α2 A1
ξ = √ = dimensionless damping ratio.
2 α1 α2 A1 A2
Notice that this system is overdamped since
qo(t)
(α1 A2 − α2 A1 )2
ξ2 − 1 = > 0.
Fig. 1. Two tank problem with a simple controller. 4α1 α2 A1 A2
As a result of the fact that ξ > 1, the response will not be
oscillatory [2]. Furthermore, the characteristic equation has
Using the mass balance principle, we now derive the dif-
the form
ferential equations for each tank. Follwing the continuity µ ¶µ ¶
principle, we obtain the continuity equations for each tank α1 α2
∆(s) = s+ s+ = 0,
as A1 A2
(a) Continuity equation for Tank 1: whose two roots are real and negative. Thus the system will
respond slowly to changes in demand (inputs). It has been
α1 1 shown in [3] that the best performance can be achieved
ḣ1 (t) + h1 (t) = qi (t). (2) when ξ = 1, which corresponds to the critical damping
A1 A1

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46th IEEE CDC, New Orleans, USA, Dec. 12-14, 2007 ThPI23.22

case. Since the cross-sectional areas of the tank can be where

determined and are fixed, the valve coefficients α1 and α2 µ
q
¶
can be tuned so that ξ = 1. This is a system identification K0 =
α2
issue that will be covered in Section 3. ³ ´
α2 K0 α2
A2 h2 (0) + ḣ2 (0) − A2
Let us now take the Laplace transform of the 2nd -order K1 = α2 α1
A2 − A1
differential equation for h2 (t). That is, ³
α1
´
K0 α1
A1 h2 (0) + ḣ2 (0) − A1
s2 H2 (s) − sh2 (0)− ḣ2 (0) + 2ξωn (sH2 (s) − h2 (0)) K2 = α1 α2
A1 − A2
+ωn2 H2 (s) = βQi (s).
3) Critically Damped Case, ξ = 1: In this case the roots
Upon simplification we obtain of the characteristic equation are
s1 = −ωn and s2 = −ωn .
s2 h2 (0) + (2ξωn h2 (0) + ḣ(0))s + βq
H2 (s) = . (11)
s(s2 + 2ξωn s + ωn2 ) Thus, the solution becomes
If we now let σ = ξωn be pthe inverse of the time constant h2 (t) = K0 + (K1 + K2 t)e−ωn t ,
of the system and ωd = ωn 1 − ξ 2 be the damped natural
where
frequency. Then we can simplify (11) as µ ¶
q
K0 =
s2 h2 (0) + (2σh2 (0) + ḣ(0))s + βq α2
H2 (s) =
s((s + σ)2 + ωd2 ) K1 = h2 (0) − K0
µ ¶ µ ¶
A s+σ ωd K2 = ωn (h2 (0) − 1) + ḣ2 (0).
= +B + C ,
s (s + σ)2 + ωd2 (s + σ)2 + ωd2
Notice that cases (2) and (3) are not oscillatory solutions
where and, in fact, are the only two possible solutions that interest
q us. This will affect the system response in the sense that
A = h2 (t) will not respond quickly to changes in qi (t). This
α2
q should serve as a motivation for introducing a controller
B = h2 (0) − in Section 4. A controller will make the system respond
α2
³
q
´ quicker to changes in the environment, as well as to
σ h2 (0) − α2 + ḣ2 (0) compensate for disturbances. What we have developed so
C = far is an open loop operation. If there are leaks in the tanks
ωd
or unwanted inflows from other sources, then h2 (t) will not
The response of h2 (t) to a constant input, q(t) = q, can now compensate for such disturbances.
be obtained from
q Finally, we would like to build a state-space model of (7).
h2 (t) = + De−σt sin(ωd t + φ), (12)
α2 For this we need two states since the differential equation has
two derivative terms. Thus, our state-space model becomes
where
p ẋc (t) = Ac xc (t) + Bc u(t) (13)
D =B2 + C 2 y(t) = Cc xc (t) + Dc u(t), (14)
µ ¶
−1 C
φ = tan . where
B · ¸ · ¸
0 1 0
Equation (12) has been derived for the undamped case, ξ < Ac = , Bc =
−ωn2 −2ξωn β
1. Therefore, it does not apply when ξ ≥ 1. Let us now £ ¤ £ ¤
Cc = 1 0 , Dc = 0 ,
consider the three possibilities:
1) Undamped Case, 0 < ξ < 1: See equation (12). u(t) = qi (t), and the initial conditions are
2) Overdamped Case, ξ > 1: In this case the roots of ·
h2 (0)
¸
the characteristic equation are xc (0) = . (15)
ḣ2 (0)
α1 α2
s1 = − and s2 = − . III. S YSTEM I DENTIFICATION AND PARAMETER
A1 A2 E STIMATION
If we now apply the method of partial fraction expan- Having obtained a state-space model, one can now conduct
sion to (11), we obtain an input/output experiment to determine the physical
α1 t α2 t
parameters of the model. These model parameters are
h2 (t) = K0 + K1 e− A1 + K2 e− A2 , {A1 , A2 , α1 , α2 } which led earlier to three relationships

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46th IEEE CDC, New Orleans, USA, Dec. 12-14, 2007 ThPI23.22

in terms of ωn2 , ξ, and β. This means that since we do {Āc , B̄c , C̄c , D̄c } to physical coordinates {Ac , Bc , Cc , Dc }.
not have a state equation for h1 (t), one of the parameters For this we need to solve the following system of equations
cannot be identified uniquely. Notice that there is a term
equal to A1 A2 which cannot be separated. These three Ac = T Āc T −1 (16)
parameters {ωn2 , ξ, β} also show up in the state-space Bc = T B̄c (17)
parameter matrices {Ac , Bc , Cc , Dc }. Cc = C̄c T −1 . (18)
Given a recorded input/output discrete data set Equations (16) – (17) are highly nonlinear and difficult
{u(k), y(k)}N −1
k=0 , we would now like to identify the to solve as such. However, if we re-write (16) and (17),
system order n and state-space parameter matrices respectively as
{Ād , B̄d , C̄d , D̄d } in discrete-time form. That is, we would
like to identify a discrete-time version of (13) – (14), given Ac T = T Āc
discrete-time data of the form
Cc T = C̄c .
u(k) = u(tk )|tk =k∆+t0
Expanding these out we obtain,
y(k) = y(tk )|tk =k∆+t0 , k = 0, 1, 2, . . . , N − 1,
· ¸· ¸
t11 t12 ā11 ā12
where t0 is an initial time, usually taken as the origin. One t21 t22 ā21 ā22
can easily obtain a model {Ād , B̄d , C̄d , D̄d , x̄d (0), n} using · ¸· ¸
a subspace technique such as MOESP, CVA, or N4SID [4], 0 1 t11 t12
=
[6], [8]. This can be easily done in MATLAB [5] and we −ωn2 −2ξωn t21 t22
will present an example later in this Section.
· ¸· ¸ · ¸
t11 t12 b̄11 0
Assuming the discrete-time identification is done =
t21 t22 b̄21 β
successfully, we now need to convert the parameter matrices · ¸
{Ād , B̄d , C̄d , D̄d } to its continuous-time counterpart
£ ¤ £ ¤ t11 t12
c̄11 c̄12 = 1 0 .
{Āc , B̄c , C̄c , D̄c } using a time step ∆. For this we will use t21 t22
an iterative algorithm due to [7], as follows: If we now let
Step 0: Initialization step X = ωn2 , Y = 2ξωn , Z = β
F = Ād , G = B̄d , L = F − I2 M = −Xt11 − Y t21 , N = −Xt12 − Y t22 ,
M = I2 , P = M, i = 1, then we can convert the problem of finding T into an
where I2 is a 2 × 2 identity matrix. orthogonal complement problem such as xT A = 01×8 ,
where
Step 1: Iterate until convergence, k
xT =
£ ¤
t11 t12 t21 t22 M N Z 1
 
for i = 2 : k ā11 ā12 0 0 b̄11 0 −1 0
−(i − 1) · L · M  ā21 ā22 0 0 b̄21 0 0 −1 
M =  
i  −1 0 ā11 ā12 0 b̄11 0 0 
P = P +M
 
 0 −1 ā21 ā22 0 b̄21 0 0 
A =   ,
end  0 0 −1 0 0 0 0 0 

 0 0 0 −1 0 0 0 0 
Step 2: Compute final continuous-time parameter matrices
 
 0 0 0 0 0 −1 0 0 
{Āc , B̄c , C̄c , D̄c } from 0 0 0 0 0 0 c̄11 c̄12
P ·L P ·G
Āc = , B̄c = , C̄c = C̄d , D̄c = D̄d , and 0m×n is an m × n matrix with all its elements equal
∆ ∆ to zero. Notice that columns 5, 7, and 8 of A are linearly
where the identified matrices have no structure and can be dependent since c̄11 b̄11 + c̄12 b̄21 = 0. Therefore, rank{A} =
represented as 7. The solution to xT A = 01×8 comes from the SVD of A,
· ¸ · ¸ i.e.,
ā11 ā12 b̄11
Āc = , B̄c =
ā21 ā22 b̄21 VT
· ¸· ¸
S 07×1
U U⊥
£ ¤
A = .
01×7 0 (V ⊥ )T
£ ¤ £ ¤
C̄c = c̄11 c̄12 , D̄c = 0 .

Let (U ⊥ )T =
£ ¤
We would now like to find the transformation ma- u1 u2 u3 u4 u5 u6 u7 u8 .
trix T that converts the identified continuous-time model Then the solution to the physical parameter extraction prob-

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46th IEEE CDC, New Orleans, USA, Dec. 12-14, 2007 ThPI23.22

Gaussian Random Signal

lem is given by

Inflow Rate, qi(t) (m3/min)

4

2
· ¸
u1 u2
u3 u4 u5 u6 u7 1
T = , M =
, N = , Z = 0 0.5 1 1.5 2 2.5
u8 u8 · u8 ¸ u8 Time, t (minutes) 5
x 10
Measured vs Fitted Response
£ ¤ u4 −u2 1.21

Water Elevation, h2(t) (m)

M N
£ ¤ −u3 u1 1.208
X Y =−
u8 (u1 u4 − u2 u3 ) 1.206
√ Y 1.204
ωn = X, ξ = √ , β = Z.
2 X 1.202

1.2
0 0.5 1 1.5 2 2.5
Time, t (minutes) 5
x 10

Fig. 2. Input/Output data for two tank problem.

Let us now consider the simulated discrete-time data shown
in Figure 2, sampled at ∆ = 0.00084 samples/s. We per-
The transformation matrix T that brings the system to phys-
formed a system identification exercise to obtain the system
ical coordinates was computed from the solution to above-
parameter matrices {Ād , B̄d , C̄d , D̄d } and {Āc , B̄c , C̄c , D̄c }.
mentioned orthogonal complement problem. The matrix A
The following MATLAB commands were used in identifying
was obtained as
a discrete-time model, assuming the data is contained in a 
file called “Data.mat”. That is, >> load Data 0.0087 −0.1525 0.0000 0.0000
 0.0464 −0.1596 0.0000 0.0000
>> n=2; 
 −1.0000 0.0000 0.0087 −0.1525
>> DT=0.00084; 
 0.0000 −1.0000 0.0464 −0.1596
>> Dat=iddata(y,u,DT); A =   0.0000 0.0000 −1.0000 0.0000
>> TH = n4sid(Dat,n); 
 0.0000 0.0000 0.0000 −1.0000
>> [barAd,barBd,barCd,barDd]=th2ss(TH); The results of 
the discrete-time model were were as follows:  0.0000 0.0000 0.0000 0.0000
0.0000 0.0000 0.0000 0.0000

−0.0014 0.0000 −1.0000 0.0000
· ¸ · ¸ −0.0055 0.0000 0.0000 −1.0000 
1.0001 −0.0013 −0.00001226

Ād = , B̄d = 0.0000 −0.0004 0.0000 0.0000 
0.0004 0.9986 −0.00004872

0.0000 −0.0056 0.0000 0.0000 ,
0.0000 0.0000 0.0000 0.0000 
£ ¤ £ ¤
C̄d = 11.9638 −3.0233 , D̄d = 0.0000 . 
0.0000 0.0000 0.0000 0.0000 
0.0000 −1.0000 0.0000 0.0000 
0.0000 −1.0000 11.9638 −3.0233
We then applied the algorithm of Sinha [7] to convert from and the transformation matrix T came out to be
discrete-time to continuous-time, and we obtained · ¸
11.9638 −3.0233
T = .
−0.0359 −1.3416
The physical system parameter were computed as
· ¸ · ¸
0.0087 −0.1525 −0.0014 ·
0.0000 1.0000
¸
Āc = , B̄c = T Āc T −1
= Ac =
0.0464 −0.1596 −0.0055 −0.0057 −0.1508
£ ¤ £ ¤
C̄c = 11.9638 −3.0233 , D̄c = 0.0000 . ·
0.0000
¸
T B̄c = Bc =
0.0074
−1
£ ¤
C̄c T = Cc = 1.0000 0.0000
£ ¤
Two types of inputs were used to test the algorithm. The D̄c = Dc = 0.0000
first input was a non-persistently exciting sinusoidal input ωn = 0.0754
and the second input was a persistently exciting random ξ = 1.0000
Gaussian input signal. The measured versus fitted responses
β = 0.0074,
for the latter case shown is shown in Figure 2. However,
both sets of results showed a very good model fit. which agree with the actual parameters. Notice that these
parameters can be computed uniquely.

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46th IEEE CDC, New Orleans, USA, Dec. 12-14, 2007 ThPI23.22

Step response of uncompensated and compensated systems

IV. C ONTROLLER D ESIGN 1.4
Open Loop
Closed Loop
Let us now return to Figure 1, where a microcontroller is 1.2 Ts = 4.45 min

used for the purpose of controlling the fluid level in tank P.O. = 9.25 %
1.02
1
2, h2 (t), so that it follows a desired but known trajectory, 0.98

hD (t). The controller sends a signal u(t) to the actuator, 0.8

y(t)
who then tweaks the inflow valve, thus changing the inflow
0.6
rate to qi (t) = f (u(t)), where f (·) is used here to denote
that the response of the valve will not be instantaneous, and 0.4

that an actuator-valve model is necessary. Thus, in order

0.2
to make the system follow a desired trajectory, we need to
control the inflow rate (input to the first tank) of the system. 0
0 5 10 15 20 25 30
Depending on the size of the error e(t) = hD (t) − h2 (t), Time, t (minutes)

the microcontroller will compute its adjustments according Fig. 3. Step response of both the open-loop and closed-loop systems.
to a control law of the form u(t) = −Kc e(t) + hD (t).

Assuming zero initial conditions, we now compute the trans- hD (t)

+ e(t)
Controller
u(t)
Actuator
qi(t)
Plant
h2(t)
fer functions of the plant using Gp (s) = Cs (sI2 −Ac )−1 Bc + −

Dc . The plant transfer function was computed as

Sensor
0.005687
Gp (s) = 2
.
s + 0.1508s + 0.005687
Fig. 4. Block diagram of the two tank problem with all components.
In addition, we computed the state-space model of the
closed-loop system as
V. C ONCLUSIONS
ẋcl (t) = (Ac − Bc Kc )xcl (t) + Bc hD (t) We have presented a thorough case study involving the
h2 (t) = (Cc − Dc Kc )xcl (t) + Dc hD (t). modeling, identification, and control design issues that an
engineer is commonly faced when dealing with practical con-
Finally, we computed the step response of the open-loop
trol oriented applications. Results provided here can serve as
system with transfer function Gp (s), the results of which
a guideline in mathematical modeling, system identification,
are shown in Figure 3. Next we computed the closed-loop
and controller design for many real world applications. In
step response corresponding to a desired percent overshoot
fact, the physical parameters of other types of system can be
of P.O.(%) = 10 % and a settling time of Ts = 5 minutes.
identified using the proposed ideas, as long as the systems
are identifiable. Furthermore, the orthogonal complement
The percent overshoot and settling time were used to estimate
problem will lead to a unique set of parameters. The matrix
the proper ξˆ and ω̂n to achieve the desired response. These
A will always be composed of the matrices {Ā, B̄, C̄}, thus
were obtained from
will be known once the system is identified in non-physical
− ln(P.O.(%)/100) 4
ξˆ = p , ω̂n = , coordinates.
2
π + (ln(P.O.(%)/100)) 2 Ts ξˆ
R EFERENCES
whose values are ω̂n = 1.3533 and ξˆ = 0.5912, respectively. [1] Distefano, J. J., Stubberud, A. R., and I. J. Williams, Feedback and
The closed-loop transfer function Gcl (s) was then computed Control Systems, 2nd edition, Schaum’s Outline Series, McGraw-Hill,
as New York, 1990.
[2] Dorf, R. C. and R. H. Bishop, Modern Control Systems, Prentice Hall,
Gcl (s) = (Cc − Dc Kc )(sI2 − (Ac − Bc Kc ))−1 Bc + Dc New Jersey, 2005.
[3] James, D. J. G., “Hydroelectric power generation system,” in Case
1.8310 Studies in Mathematical Modelling, W. E. Boyce (Ed.), Pitman
= 2
,
s + 1.6000s + 1.8310 Advanced Publishing, 1981.
£ ¤ [4] Larimore, W. E., “The optimality of canonical variate identification
where Kc = 1.8257 1.4492 was obtained via pole by example, filtering, and adaptive control,” Proc. SYSID’94, Vol. 2,
placement. The roots of both the open-loop and closed-loop pp. 151-156, 4-6 July, Copenhagen, Denmark, 1994.
[5] Palm, W. J., Introduction to MATLAB for Engineers, McGraw-Hill,
characteristic equations are Boston, 2001.
[6] Verhaegen, M., “Identification of the deterministic part of MIMO
si = −0.0754 ± 0.0014j, di = −0.8000 ± 1.0913j, state-space models given in innovations form from input-output data,”
Automatica, vol. 30, no. 1, pp. 61-74, 1994.
respectively, for i = 1, 2. Finally, the closed-loop step [7] Sinha, N. K., “Identification of continuous-time systems from samples
response was computed and shown in Figure 3. One can of input-output data: An introduction,” Sādhanā, Vol. 25, Part 2, pp.
observe that the controller dramatically improves the speed of 75-83, April 2000.
[8] Van Overschee, P. and B. De Moor, “Subspace algorithms for the
response of the system. A block diagram of the entire system stochastic identification problem,” Automatica, Vol. 29, No. 3, pp. 649-
with controller, actuator, plant, and sensor is shown in Figure 660, 1993.
4. The computed percent overshoot was P.O.(%) = 9.25 %
and the settling time was Ts = 4.46 minutes.

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