Course: CH302P Laboratory Report

Laboratory Manual

Course: CH307P Process Control & Instrumentation Laboratory

Experiment: Dynamic Responses of a Quadruple Tank System

Group No. : 5

Name Roll No.

Vaibhav Mishra CH21B038
Yashraj Singh CH21B040
Tajesve Panwar CH21B036
Manas Poddar CH21B026

Date of Experiment: 30/01/2024 Date of Submission: 12/02/2024

1. Aim:

● To study the dynamic response of a quadruple tank system for a step change in voltage to pump 1
for two different operating conditions.
● To study the dynamic response of a quadruple tank system for a step change in voltage to pump 2
for two different operating conditions.

2. Theory:

The Quadruple tank is a laboratory process with four interconnected tanks connected using both
interacting and non-interacting variations and two pumps as shown in figure below. The process inputs
are 𝑣1 and 𝑣2 (input voltages to pumps) and the outputs are 𝑦1 and 𝑦2 (voltages from level measurement
devices).

The target is to control the level of the lower two tanks with inlet flow rates. The output of each pump is
split into two using a three-way valve. Pump 1 is shared by tank 1 and tank 4, while pump 2 is shared by
tank 2 and tank 3.

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Thus, each pump output goes to two tanks, one lower and another upper diagonal tank and the flow to
these tanks are controlled by the position of the valve represented as γ. The position of the two valves
determines whether the system is in the minimum phase or in the non-minimum phase. Let the parameter
γ be determined by how the valves are set.

Each tank has a discharge valve at the bottom. The discharge from tank 4 goes to tank 1 while discharge
of tank 3 goes to tank 2. This interaction creates a strong coupling between the tanks which makes it a
multivariable control system.

Due to its strong nonlinear behavior, the problem of identification and control of QTP is always a
challenging task for control systems engineers. Discharge from tank1 and tank 2 goes to the reservoir
tank at the bottom.

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The following constructive equations would be there in order to solve the given system:

Theoretical Simulation :

1. Minimum Phase Characteristics Condition (P-):

The System condition at which it exhibits the causal and stable characteristics is called the
minimum phase characteristic condition (let P-). For this system, the conditions for the same are
given as follows: 𝛾1 = 0.70, 𝛾2 =0.6, k1 = 3.33 and k2 = 3.35. From the above values of 𝛾1, 𝛾2 ,

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we observe that the fluid from pump-1 one enters both tank 1 and tank 4, and similarly, the fluid
from pump -2 enters both tank 2 and tank 3 and the whole system will be a complex combination
of all four tanks.

For tank-1 :
The model equation can be simplified into

For tank-2 :
The model equation can be simplified into

For tank-3 :
The model equation can be simplified into

For tank-4 :
The model equation can be simplified into

2. Non-minimum Phase Characteristics Condition (P+):

Any System condition other than the minimum phase characteristic condition can be considered
as the non-minimum phase characteristic condition (P+). For this system, the conditions for the
same are given as follows: 𝛾1 = 0.43, 𝛾2=0.34, k1 = 3.14 and k2 = 3.29. From the above values
of 𝛾1, 𝛾2 , we observe that the fluid from pump-1 one enters both tank 1 and tank 4, and
similarly, the fluid from pump -2 enters both tank 2 and tank 3 and the whole system will be a
complex combination of all four tanks.

For tank-1 :
The model equation can be simplified into

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For tank-2 :
The model equation can be simplified into

For tank-3 :
The model equation can be simplified into

For tank-4 :
The model equation can be simplified into

3. Simplified case:(γ1 = γ2 = 0)
Consider a special case of the system where, γ1 = γ2 = 0 In this case, we find that all the fluid
from pump 1 completely enters the tank 4 and all the fluid that of pump 2 completely enters the
tank 3. Therefore, the only inputs to tank 1 and 2 are that from the output of tank 4 and 3
respectively.

For tank-1 :
The model equation can be simplified into

For tank-2 :
The model equation can be simplified into

For tank-3 :
The model equation can be simplified into

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For tank-4 :
The model equation can be simplified into

4. Simplified case:(γ1 = γ2 = 1)
Consider a special case of the system where, γ1 = γ2 = 1 In this case, we find that all the fluid
from pump 1 completely enters tank 1 and all the fluid that of pump 2 completely enters tank 2.
Therefore, tank 3 and 4 has no inputs and will be non-functional once the initial fluid levels are
drained off.

For tank-1 :
The model equation can be simplified into

For tank-2 :
The model equation can be simplified into

For tank-3 :
The model equation can be simplified into

For tank-4 :
The model equation can be simplified into

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3. Experimental Setup:

● Tank.
● Pump.
● Bi-directional Valve.
● Transporting Pipes.

4. Experimental Procedure:

a) Begin by unlocking the potential of Simulink within MATLAB, initiating a fresh canvas for a

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groundbreaking model template.

b) Navigate to the simulations tab and unveil the library, a treasure trove of blocks spanning diverse
categories such as sources, sinks, and mathematical operations.
c) Enrich your canvas by dragging in a duo of step blocks from the sources category, priming the
system with input.
d) Illuminate your path forward by introducing a scope from the sink section, poised to illuminate
the outputs of your creation.
e) Elevate your design with the addition of a subsystem, strategically positioned between the source
and sink, poised to encapsulate your innovation.
f) Embark into the depths of the subsystem with a double-click, where the genesis of two inputs
(pump voltages) and four outputs (water levels in tanks) awaits.
g) Craft your masterpiece within this enclave, leveraging an array of mathematical operation blocks
including adders, subtractors, gain modifiers, integrators, and square root calculators.
h) Emerge from the depths of the subsystem, intertwining the step blocks with the subsystem's
inputs and weaving the outputs into the scope's realm.
i) Fine-tune the inner workings of the subsystem, specifying gain parameters for gain blocks and
seeding initial values for integrators, with the flexibility to express these parameters using
MATLAB variables.
j) Unleash the power of simulation, igniting the engine and casting your gaze upon the dynamic
dance of your four-tank system through the lens of the scope.
k) Embark on a journey of exploration, tweaking gamma values and charting the system's course
through familiar scenarios, all while adjusting the simulation's temporal bounds to suit your quest
for understanding.

5. Data Table:

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Table1 : Constants Table

Table2 : Initial values for two different operating conditions

Simulation Diagram:

fig. Subsystem for Tank1

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fig. Subsystem for Tank2

fig. Subsystem for Tank3

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fig. Subsystem for Tank4

fig. Overall Model of Quadrupled System including all the tanks

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6. Results and Discussion:

Following are the graphs for both the operating conditions i.e P+ and P- condition.

1). At P- condition:

● y1 = 0, y2 = 0 : Tank 1 and 2 will drain out water initially after sometime the water level will
start increasing due to water coming from tank 3 and 4 respectively until it reaches a steady state.
For tank 3 and 4 the water level keeps increasing until reaches steady state when water pumped
in is equal to water going out.

● y1 = 1, y2 = 1 : All the pumped water is received by tank 1 and 2, the level in tank 1 and 2 keeps
increasing until it reaches steady state as shown. Since tank 3 and 4 receives no water its level
keeps decreasing till it gets empty

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● y1 = 0.70, y2 = 0.60 : Water levels in all tanks keep increasing and reach a steady state. This is
because initially water pumped in is greater than the water leaving the orifice. So the height
increases. But as height increases, the rate of water leaving the orifice also increases and hence a
point comes the rate of water leaving is equal to the rate of water being pumped in.

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2). At P+ operating conditions

● y1 = 0.43, y2 = 0.34 : Water levels in all tanks keep increasing and reach a steady state. This is
because initially water pumped in is greater than the water leaving the orifice, so the height
increases. But as height increases, the rate of water leaving the orifice also increases and hence a
point comes the rate of water leaving is equal to the rate of water being pumped in.

7. References:
● K.H. Johansson. The quadruple-tank process: a multivariable laboratory process with an
adjustable zero. IEEE Transactions on Control Systems Technology, 8(3):456–465, 2000.

8. Credits:

Name Roll No. Contribution in Experiment Report

(%)
Vaibhav Mishra CH21B038 33.34%
Yashraj Singh CH21B040 “A”
Tajesve Panwar CH21B036 33.33%
Manas Poddar CH21B026 33.33%

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