WACHEMO UNIVERSITY

college of engineering and technology

Department of electro-mechanical engineering
project tittle: liquid level control system
course : modern control system

course code: Meg5201

ADVISOR : MS Lidiya Abebe(MSC) Hosanna, Ethiopia

30/2/2017 E.C

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 Department of electro mechanical engineering

Table of Contents

Abstract........................................................................................................................................................................ 4
1.1 Introduction:.........................................................................................................................................................4
1.2 Problem of Statement..........................................................................................................................................5
1.3 General Objective..................................................................................................................................................5
1.4 Specific objective.....................................................................................................................................................5
1.5 Scope of the Project.................................................................................................................................................5
1.6 significance of project..............................................................................................................................................5
1.7 Limitations of the Project.........................................................................................................................................6
2. Literature Review......................................................................................................................................................6
2.1 Resistance and Capacitance of Liquid-Level Systems: -...........................................................................................6
2 .2 .Design of servo controller for two tank system....................................................................................................9
2.3 Design of observer and state feedback controller for two tank system...............................................................19
Conclusion.................................................................................................................................................................29
Reference: -...............................................................................................................................................................31

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Department of electro mechanical engineering
 Department of electro mechanical engineering

Abstract

The industrial application of Coupled Tank System (CTS) is widely used especially in chemical process
industries. The control of liquid level in tanks and flow between tanks is a problem in the process
technologies. An effort is made to keep the liquid level in the second tank constant. So, to have such
control over this process coupled tank system is mathematically modeled, state feedback constant K is
evaluated from desired performance characteristics such as percentage overshoot, settling time and
steady state error. The same way an observer constant gain K e is evaluated from the desired
performance characteristics. MATLAB is used to simulate and display the performance of the control
system. Finally, electronic design of the control system is done.

1.1 Introduction:

Liquid level control is needed in various industrial applications, e.g., in food processing, water
purification systems, filtration, pharmaceutical industries, etc. is well known that the state coupled two-
tank liquid level system. The state space approach is a generalized time domain method for modeling,
analyzing and designing a wide range of control systems and is particularly well suited to digital
computational technique.

In this project we shall present design methodology of closed loop control in state space domain
using state feedback gain matrix and observer gain matrix. This concept of technique is called pole
placement technique. It will be shown that if the system is completely state controllable and observable.
Design a servo controller for two tank system as well as design an observer and state feedback controller
for two tank system are presented below.

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 Department of electro mechanical engineering

1.2 Problem of Statement

In many industrial applications, maintaining the appropriate liquid level in tanks is crucial for
operational efficiency and safety. Traditional methods of liquid level monitoring are often manual,
leading to inaccuracies, spills, or equipment damage. This project aims to develop an automated liquid
level control system that utilizes sensors and microcontrollers to provide precise control and monitoring
of liquid levels, thereby reducing human error and improving system reliability.

1.3 General Objective

 To design and implement an automated liquid level control system that ensures accurate
monitoring and control of liquid levels in storage tanks using modern sensing and control
technology

1.4 Specific objective

 To investigate different types of sensors suitable for liquid level measurement (e.g., ultrasonic,
capacitive, float switches).

 To design a microcontroller-based control system for processing sensor data and controlling
pumps or valves.

 To develop a user interface for monitoring and controlling liquid levels in real-time.

 To test and evaluate the performance of the developed system under various conditions to
ensure reliability and accuracy. Technology

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1.5 Scope of the Project

 Selection and integration of appropriate liquid level sensors.

 Implementation of a user-friendly interface for system operation.

 Testing the system in a controlled environment to simulate real-world conditions. The

scope does not include large-scale industrial deployment but will provide a prototype
suitable for educational and small-scale applications.

1.6. significance of project

 Enhances accuracy in liquid level monitoring, reducing waste and spillage.

 Minimizes the risk of equipment damage due to overfilling or dry running.

 Provides real-time data, facilitating better decision-making and process optimization.

 Offers a platform for further research and development in automation technologies.

1.7 Limitations of the Project

 The project will focus on a specific type of liquid (e.g., water or a similar non-corrosive
liquid) and may not account for corrosive or hazardous liquids.

 The system may have limitations in scalability and may require modifications for large
industrial applications.

 Environmental factors such as temperature variations may affect sensor accuracy and
system performance.

 The prototype will not include advanced features such as remote monitoring or integration
with existing industrial systems

2. Literature Review.

 Liquid Level Measurement Techniques: Review of existing literature on various liquid level
measurement technologies, such as float sensors, capacitive sensors, and ultrasonic
sensors, highlighting their advantages and disadvantages.

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 Microcontroller Applications in Automation: Exploration of how microcontrollers are used

in automation systems, focusing on case studies that demonstrate successful
implementations of liquid level control systems.

 Control System Design: Overview of control theory as applied to liquid level systems,
discussing PID control and other control strategies used for maintaining desired liquid
levels.

 Recent Advances: Examination of recent advancements in sensor technology and

microcontroller capabilities, including IoT applications and wireless communication, that
enhance liquid level control systems

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 Department of electro mechanical engineering

2.1. Resistance and Capacitance of Liquid-Level Systems: -

Consider the flow through a short pipe connecting two tanks. The resistance R for liquid flow in such
a pipe or restriction is defined as the change in the level difference (the difference of the liquid levels of
the two tanks) necessary to cause a unit change in flow rate; that is: -

𝑐ℎ𝑎𝑛𝑔𝑒 𝑖𝑛 𝑙𝑒𝑣𝑒𝑙 𝑟𝑒𝑠𝑖𝑠𝑡𝑎𝑛𝑐𝑒,

R = 𝑐ℎ𝑎𝑛𝑔𝑒 𝑖𝑛 ,3/𝑠𝑒𝑐

The capacitance C of a tank is defined to be the change in quantity of stored liquid necessary to
cause a unit change in the potential (head). The potential is the quantity that indicates the energy level
of the system.

𝑐ℎ𝑎𝑛𝑔𝑒 𝑖𝑛 𝑙𝑖𝑞𝑢𝑖𝑑 𝑠𝑡𝑜𝑟𝑒𝑑, m3

C= 𝑐ℎ𝑎𝑛𝑔𝑒 𝑖𝑛 ℎ𝑒𝑎𝑑,𝑚

The capacity (m3) and the capacitance (m2) are different. The capacitance of the tank is equal to its
cross- sectional area. So, as the cross-sectional area of tanks is constant, the capacitance is constant
whatever the head is.

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Mathematical modeling of coupled tank system

The state variables are height of tank-1 h1 and height of tank-2 h2. The output is the height of tank-2 h2.

For

𝑑ℎ1
tank-1: -
𝑞𝑖𝑛 − 𝑞1
𝑑𝑡
= 𝐴1

=2
ℎ1−ℎ

𝑑ℎ1
Since : -
�

𝑞1
�1

ℎ1 − ℎ2
𝑞𝑖𝑛 − =
� 𝐴1 𝑑𝑡
�
1

𝑑ℎ1 � (ℎ1 − ℎ2)

�
𝑖𝑛

∴ = − � 𝐴1
𝑑𝑡 𝐴
�
1

𝑅2
For S
tank-2: - ince :

𝑞𝑜
-

=
ℎ2

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𝑞1 − 𝑞𝑜
= 𝐴2
𝑑ℎ2
𝑑𝑡

(ℎ1−ℎ2)
−
ℎ2 =
𝐴
𝑑ℎ2

𝑅1 2 𝑑𝑡
𝑅2

𝑑ℎ1 (ℎ1 − ℎ2) ℎ2

∴ = −
� � 𝐴2
𝑑𝑡 𝑅
� �
1 2

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Therefore, the state space representation the above two interacting tank system is given by: -

− 1 1
1
[1 ]
�

ℎ
( ℎ1 ] + [𝐴1]
�

]𝑅𝐴
1 1 21 𝑅1 [ 𝑞𝑖 0
�𝑡
)
𝐴1

ℎ2

𝑦 = ℎ2 ℎ1
= [0 1] [ ]
ℎ2

Assuming: - 𝑅1 = 4, 𝑅2 = 8, 𝐴1 = 1, 𝐴2 = 0.5

𝑑ℎ1
−0.25 0.25 ℎ1 1
[𝑑ℎ ] = [ ] [ ] +[ ]𝑞
𝑑𝑡
0.5 −0.75 0 𝑖
2
𝑑
𝑡 ℎ2

𝑦 = [0 1]
= ℎ2 ℎ1
[ ]
ℎ2

2 .2 .Design of servo controller for two tank system

Fig. Servo
system
 Department of electro mechanical engineering

Assume that the reference input (step function) is applied at t = 0. Then, for t > 0, the system
dynamics can be described by Equations: -

𝑿̇ = 𝑨𝑿 + 𝑩𝑼 = (𝑨 − 𝑩𝑲)𝑿 + 𝑩𝑲𝟏𝒓

Step-1: - check controllability of the system

Whether the given system is controllable or not can be determined by checking the rank of the
controllability matrix. if the rank of the controllability matrix is equal to n (or in our case 2) or if
determinant of this matrix is different from zero, then the system is controllable.

𝑀𝑐 = [B ⋮ AB]

𝐴𝐵 = [
−0.25 0.25 ] ∗ [1]
0.5 −0.75 0


−0.25
𝐴𝐵 = [0.5 ]

1 −0.25]
Now: -
∴ 𝑀𝑐 = 0[ 0.5

|𝑀𝑐| = 0.5 ≠ 0

Since the determinant of the above controllable matrix is different from zero means that the rank is
full, hence the system is controllable.

Step-2: - Finding the state feedback gain matrix K

𝐾 = [𝐾1 𝐾2]

We can obtain the feedback gain K by equating the determinant of |SI-(A-BK)| with the desired
characteristics polynomial equation. (i.e. using direct substitution method)
𝑆 0 −0.25 0.25 1
[𝑆𝐼 − (𝐴 − 𝐵𝐾)] = [ ]−([ ] − [ ] ∗ [𝐾1 𝐾2]) = 0
0 𝑆 0.5 −0.75 0
𝑆 + (𝐾1 + 0.25) 𝐾2 − 0.25
𝑑𝑒𝑡 [ −0.5 𝑆 + 0.75 ]=0

∴ 𝑆2 + (𝐾1 + 1)+ (0.75𝐾1 + 0.5𝐾2 + 0.0625) = 0 − − − − − −(𝑒𝑞. 1)

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Step-3: - The desired location of closed loop poles is selected based on the required performance of the
system. Performance requirements are chosen as follow: -

 Percentage overshoot: - %𝑜𝑠 = 15%

= 1.5𝑠𝑒𝑐
𝑇 =
 Settling time: -
4
�

𝜔𝑛
�

 Steady state error: - less than 1%

 Department of electro mechanical engineering

%𝑜𝑠 15
So now we can find the damping ration and natural frequency to get the desired closed-loop poles.

(− ln ( )) (− ln ( ))
100 100
⇒𝜁 = =
%𝑜𝑠 2
15 2
√(𝜋2 + (lN ( )) ) √(𝜋2 + (ln ( )) )
100 100

𝜻 = 𝟎. 𝟓𝟐

4 4
⇒ 𝜔𝑛 = =
𝜁 𝑇� 0.52 ∗ 1.5

𝝎𝒏 = 𝟓. 𝟏𝟔

Therefore, our desired pole is gives as: -

⇒ 𝑆2 + 2𝜁𝜔𝑛𝑆 + 𝜔𝑛2 = 0

𝑆2 + 5.4𝑆 + 26.63 = 0 − − − − − − − − − −(𝑒𝑞. 2)

Equating (eq.1) and (eq.2) gives: -

⇒ 𝐾1 + 1 = 5.4 ⇒ 0.75𝐾1 + 0.5𝐾2 + 0.0625 = 26.63

𝑲𝟏 = 𝟒. 𝟒 𝑲𝟐 = 𝟒𝟔. 𝟓𝟑

Therefore, 𝐾 = [𝐾1 𝐾2] = [4.4 46.53]

 The state equation for designed system is: -

𝑋̇ = 𝐴𝑋 + 𝐵𝑈 = (𝐴 − 𝐵𝐾) + 𝐵𝐾1𝑟

𝑑ℎ1
−4.6500 −46.2845 ℎ1 46.5345
[ 𝑑𝑡
] 2= [ ] [ ] +[ ]𝑟
𝑑ℎ 0.5 −0.75 ℎ2 0
𝑑𝑡

And the output 𝑦 = ℎ2

equation is

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ℎ1
= [0 1] [ ]
ℎ2
 Department of electro mechanical engineering

MATLAB Simulation and Result

MATLAB program: -
% Design of servo controller for two tank
system A=[ -0.25 0.25;0.5 -0.75];
B=[1;0];
C=[0 1];
D=[0];%by assuming R1=4, R2=8, C1=1, C2=0.5
eig(A); %stability test

plant_uncontrolled=ss(A,B,C,D); % Creating state-space

step(plant_uncontrolled); % Step response of uncontrolled plant

[n,d]=ss2tf(A,B,C,D);
plant_G=tf(n,d);%plant transfer function

Mc=ctrb(A,B);
rank(Mc); %check the controllability

%by taking the os=15% and Ts=1.5s

Pc=[-2.7000 + 4.3977i -2.7000 - 4.3977i]; % Closed-loop desired pole
K=place(A,B,Pc);%finding the controller gain

Acl=A-B*K; %the new A matrix

Bn=B*K(2); %the new B matrix
plant_controlled=ss(Acl,Bn,C,D); % State-space of plant
controlled step(plant_controlled); % Step-response of plant
controlled

COMPUTER RESPONSE: -

ans =

-0.0670
-0.9330 since all the eigen values are negative, our system is stable

n =

0 0 0.5000

d =

1.0000 1.0000 0.0625

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plant_G =

0.5

s^2 + s + 0.0625

Continuous-time transfer function.

Mc =

1.0000 -0.2500
0 0.5000

ans =

Pc =

-2.7000 + 4.3977i -2.7000 - 4.3977i

K =

4.4000 46.5345

Acl =

-4.6500 -46.2845
0.5000 -0.7500

Bn =

46.5345
0

plant_controlled =

A
=
x1 x2
x - -
 Department of electro mechanical engineering

1 4.65 46.28

3.2 Canonical Form (Controllable Canonical Form):

In controllable canonical form, the matrices are as follows:

Ac = [[0, 1], [-0.125, -0.5]]

Bc = [[0], [1]]
Cc = [[0, 1]]
Dc = [[0]]

Thus, the system in controllable canonical form is:

dx/dt = Ac x + Bc q
y = Cc x

3. Time Solution of the System:

To find the time solution, we solve the homogeneous system (assuming no input initially, i.e., q
= 0).

The general solution for the state vector x(t) = [h1(t), h2(t)]^T is given by:

x(t) = e^(A t) x(0)

where x(0) = [h1(0), h2(0)]^T is the initial condition vector.

1. Eigenvalues of A:
The eigenvalues of A are the roots of the characteristic polynomial s^2 + 0.5s + 0.125 = 0:
s = -0.25 ± 0.25i

2. Matrix Exponential e^(A t):

For a matrix with complex eigenvalues, e^(A t) involves terms with oscillatory functions sin and
cos, modified by an exponential decay factor.

The solution can be expressed as:

x(t) = e^(-t / 4) * [[cos(t / 4), sin(t / 4)], [-sin(t / 4), cos(t / 4)]] * x(0)

This provides the time evolution of h1(t) and h2(t) in response to the initial conditions. If there is a c
continuous input q(t), a particular solution must also be added to this homogeneous solution.

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x2 0.5 -0.75

B =
u1
x1 46.53
x2 0

C =
x1 x2
y1 0 1

D =
u1
y1 0

Continuous-time state-space model.

Fig. Step-response of uncontrolled system

 Department of electro mechanical engineering

Fig. Step-response of controlled system

Fig. Simulink model for servo-controller of two tank system

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Fig . Simulink model plant output

Electronic circuit for servo controller of two tank constant gain K: -

 Department of electro mechanical engineering

2.3 .Design of observer and state feedback controller for two tank system

The state space is same as previous question which is: -

𝑑ℎ1
−0.25 0.25 ℎ 1
[𝑑ℎ ] =[ ] [ 1] + [ ] 𝑞
𝑑𝑡
0.5 0 𝑖
−0.75
2
𝑑
𝑡 ℎ2

𝑦 = [0 1]
= ℎ2 ℎ1
[ ]
ℎ2

Step-1: - Check the observability and controllability of the system

Since we already know that the system is controllable, we can only check its observability here.
Whether the given system is observable or not can be determined by checking the rank of the
observability matrix. if the rank of the observability matrix is equal to n (or in our case 2) or if the
determinant of this matrix is different from zero, then the system is state observable.
𝐶
𝑀 =[ ]
𝐶𝐴

−0.25 0.25 ]
�

𝐶𝐴 = [01] ∗ [ 0.5 −0.75



𝐶𝐴 = [0.5000 −0.7500]

N
0 1
∴ 𝑀𝑜 = [ ]
ow: -

0.500 −0.7500

|𝑀𝑜| = −0.5 ≠ 0

Since the determinant of the above observability matrix is different from zero means that the rank is full,
therefore the system is state observable as well as controllable.

Step-2: - Find the state feedback gain K

we have already found the state feedback gain from the servo-controller design, assuming the
performance parameters: -

 Percentage overshoot: - %𝑜𝑠 = 15%

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= 1.5𝑠𝑒𝑐
𝑇 =
 Settling time: -
4
�
�
𝜔𝑛
 Steady state error: - less than 1%

Therefore, 𝐾 = [𝐾1 𝐾2] = [4.4 46.53]

 Department of electro mechanical engineering

Step-3: - Find the observer gain Ke

𝐾𝑒1
𝐾 =[ ]
𝐾𝑒2
�

We can obtain the feedback gain Ke by equating the determinant of |SI-(A-KeC)| with the desired

𝑆 0 −0.25 0.25 𝐾𝑒1

characteristics polynomial equation. (i.e. using direct substitution method)

[𝑆𝐼 − (𝐴 − 𝐾 𝐶)] = [ ]−([ ]−[ ] ∗ [0 1] ) = 0

𝑒
0 𝑆 0.5 𝐾𝑒2

−0.75
𝑆 + 0.25 𝐾𝑒1 −
0.25
𝑑𝑒𝑡 [ ]=0
−0.5 𝑆 + (𝐾𝑒2 + 0.75)

∴ 𝑆2 + (𝐾𝑒2 + 1) + (0.25𝐾𝑒2 + 0.5𝐾𝑒1 + 0.0625) = 0 − − − − − −(𝑒𝑞. 1)

Step-4: - Choosing the observer desired closed loop location at (S=-10) with a multiplicity of two.

⇒ (𝑆 + 10)(𝑆 + 10) = 0

𝑆2 + 20𝑆 + 100 = 0 − − − − − − − − − −(𝑒𝑞. 2)

Equating (eq.1) and (eq.2) gives: -

⇒ 𝐾𝑒2 + 1 =20 ⇒ 0.25𝐾𝑒2 + 0.5𝐾𝑒1 + 0.0625 = 100

𝑲𝒆𝟐 = 𝟏𝟗 𝑲𝒆𝟐 = 𝟏𝟗𝟎. 𝟑𝟕𝟓

190.375
�
=[ ]
�
Therefore, 𝐾
𝑒1
19
=[
�
�𝑒2
�

The dynamics of the observed-state feedback control system just designed can be
described by the following equations. For the plant: -

𝑑ℎ1
−0.25 0.25 ℎ1 1
[𝑑ℎ ] =[ ] [ ] +[ ]𝑞
𝑑𝑡
𝑦 = ℎ2
2
𝑑
𝑡

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0.5 −0.75 0 𝑖
ℎ2

ℎ1
= [0 1] [ ]
ℎ2
 Department of electro mechanical engineering

For the observer: -

⇒ 𝑿̇̃ = (𝑨 − 𝑲𝒆𝑪 − 𝑩 𝑲 ) 𝑿̃ + 𝑲𝒆𝒚

𝑑̃ℎ1
−0.25 0.25 190.375
ℎ̃
[ 𝑑𝑡 ] =[ [ ]−[ ]∗
1 𝑦 ] + [190.375]
[0 1] − [ ] ∗ [4.4 46.53]] [
0.5 −0.75 ̃ 19
�̃ 19 0
�

ℎ2
� �
�𝑡 �̃ℎ1 ℎ̃
−4.6500
𝑑𝑡 [ −236.6595 1
]+
190.375 ]𝑦
]= [
0.5 ̃ 19
�̃ ][
−19.7500
�

ℎ2
𝑑𝑡

ℎ̃
⇒ 𝑢 = −𝐾 [ 1
]
̃
2

ℎ̃
𝑢 = −[4.4 46.53] [ 1]
̃
2

The transfer function of the observer-controller is: -

𝒖(𝑺)
−𝒀(𝑺) = 𝑲(𝑺𝑰 𝑪 + 𝑩𝑲)−𝟏𝑲𝒆
− 𝑨 + 𝑲𝒆
𝑆 + 4.25 190.375
] []
−1

[ 236.66
] = 4.4 46.53 [
−0.5 𝑆 + 19.75 19

=
1721.82𝑆+5299.74
𝑆𝟐+24𝑆+210.2

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 Department of electro mechanical engineering

MATLAB Simulation and Result

MATLAB program: -
% Design of observer and state feedback controller for two tank
system A=[ -0.25 0.25;0.5 -0.75];
B=[1;0];
C=[0 1];
D=[0];%by assuming R1=4, R2=8, C1=1, C2=0.5
eig(A) %stability test

plant_uncontrolled=ss(A,B,C,D); % Creating state-space

step(plant_uncontrolled); % Step response of uncontrolled plant

[n,d]=ss2tf(A,B,C,D);
plant_G=tf(n,d); %plant transfer function

Mc=ctrb(A,B);
 Department of electro mechanical engineering

rank(Mc); %check the controllability

%by taking the os=15% and Ts=1.5s

Pc=[-2.7000 + 4.3977i -2.7000 - 4.3977i]; % Closed-loop desired pole
K=place(A,B,Pc);%finding the controller gain
Acl=A-B*K;

Mo=obsv(A,C);
rank(Mo); %check the observability

Pob=[-10 -10]; %choose observer pole

L=acker(A',C',Pob);%finding the observer gain
Ke=L';

plant_control=ss(Acl,B,C,D);
step(plant_control) % Step response of controlled system

% Obtaining transfer function of observer-

controller AA=A-Ke*C-B*K;
BB=
Ke;
CC=
K;
DD=
0;
[num,den]=ss2tf(AA,BB,CC,DD);
Obsv_Ctrb_G=tf(num,den); % Observer-controller transfer function

open_loop_tf=Obsv_Ctrb_G*plant_G;
M=feedback(open_loop_tf,1); %closed loop transfer function

COMPUTER RESPONSE: -

ans =

-0.0670
-0.9330

plant_uncontrolled =

A
= x x2
1
x - 0.
1 0.25 25
x 0 -
2 .5 0.75
B

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 Department of electro mechanical engineering

u1
=
x 1
1
x 0
2
C
= x1
x2
y 0 1
1
 Department of electro mechanical engineering

D =
u1
y10

Continuous-time state-space model.

n =

0 0 0.5000

d =

1.0000 1.0000 0.0625

plant_G =

0.5

s^2 + s + 0.0625

Continuous-time transfer function.

Mc =

1.0000-0.2500
0 0.5000

ans =

K =

4.400046.5345

Mo =

0 1.0000
0.5000-0.7500

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 Department of electro mechanical engineering

ans =

Ke =

190.3750
19.0000
 Department of electro mechanical engineering

num =

1.0e+03 *

0 1.7218 5.2997

den =

1.000024.4000 210.1673

Obsv_Ctrb_G =

1722 s + 5300

s^2 + 24.4 s + 210.2

Continuous-time transfer function.

open_ loop _tf =

860.9 s + 2650

s^4 + 25.4 s^3 + 234.6 s^2 + 211.7 s + 13.14

Continuous-time transfer function.

M =

860.9 s + 2650

s^4 + 25.4 s^3 + 234.6 s^2 + 1073 s + 2663

Continuous-time transfer function.

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 Department of electro mechanical engineering

Fig. step response of uncontrolled system

Fig. Step response of controlled system

 Department of electro mechanical engineering

Fig. Simulink model of observer and state feedback controller design for two tanks
system

Fig. Simulink model plant output

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 Department of electro mechanical engineering

Conclusion

As we have observed from the simulation and result, tank-2 settling time is 1.5 sec and tank-1
settling time is 1.76 sec which is less than the tank-1. This implies that tank-2 reaches its steady state
before tank- 1 did which means tank-2s response is faster and gets filled first.

Fig. step response of both tank

Electronic circuit for observer-controller of two tank constant gain K: -

43 | P
age

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 Department of electro mechanical engineering

2.5.Electronic circuit for observer-controller of two tank constant gain Ke: -

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 Department of electro mechanical engineering

Reference: -

 Norman S. Nise,” modeling in time domain,” in control systems engineering, 6th edt,
California state polytechnic, panama, 2011, pp. 117-161
 Norman S. Nise,” improving steady state error and transient response,” in control systems
engineering, 6th edt, California state polytechnic, panama, 2011, pp. 663-680
 Katsuhiko ogata,”design of control systems in state space,” in modern control engineering,
4th
edt, university of Minnesota, 2002, pp. 826-910
 Google.com/electronic design for feedback and observer controller

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