Laboratory Manual

Course: CH307P Process Control & Instrumentation Laboratory

Experiment: Dynamic Responses of a Quadruple Tank System

Name Roll No.

GHUGE TEJAS PANDURANG CH21B018

Date of Experiment: 12/02/2025 Date of Submission: 03/03/2025

• 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.

• Theory:

The Quadruple Tank Process (QTP) is a laboratory system consisting of four

interconnected tanks, with both interacting and non-interacting configurations. Two
pumps are used to regulate the system, where the inputs to the system are the voltage
values v1v_1 and v2v_2 (which control the pumps), and the outputs are the voltages
y1y_1 and y2y_2 (measured by the level sensors).

The goal of this system is to control the water levels in the lower two tanks by adjusting
the inlet flow rates. Each pump feeds water into two different tanks through a three-way
valve. Pump 1 is connected to tanks 1 and 4, while pump 2 is connected to tanks 2 and 3.
The water flow to each tank is regulated by the position of the valves, denoted as
γ\gamma, which determines whether the system behaves in a minimum-phase or non-
minimum-phase manner.
Each tank is equipped with a discharge valve at the bottom. Tank 4 discharges its contents
into tank 1, while tank 3 discharges into tank 2. This interconnected discharge
system creates strong coupling

between the tanks, making the QTP a multivariable control challenge.

Due to the complex nonlinear dynamics of the QTP, both system identification and
control are difficult tasks for engineers working with this system. Additionally, the water
discharged from tanks 1 and 2 flows into a common reservoir tank located at the bottom
of the system.

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

• Minimum Phase Characteristics Condition (P-):

The condition at which the system demonstrates causal and stable behavior is
referred to as the minimum phase characteristic condition (denoted as P-). For this
specific system, the required conditions are specified as follows:
γ1=0.70\gamma_1 = 0.70, γ2=0.6\gamma_2 = 0.6, k1=3.33k_1 = 3.33, and
k2=3.35k_2 = 3.35.

By examining the values of γ1\gamma_1 and γ2\gamma_2, it becomes evident that

the fluid from pump 1 is directed to both tank 1 and tank 4, while the fluid from
pump 2 is supplied to both tank
 2 and tank 3. Consequently, the system as a whole forms a complex interaction
involving 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

• Non-minimum Phase Characteristics Condition (P+):

Any system condition that deviates from the minimum phase characteristic
condition is referred to as the non-minimum phase characteristic condition
(denoted as P+). For this particular system, the conditions are specified as follows:
γ1=0.43\gamma_1 = 0.43γ1=0.43, γ2=0.34\gamma_2 = 0.34γ2=0.34, k1=3.14k_1
= 3.14k1=3.14, and k2=3.29k_2 = 3.29k2=3.29.

By analyzing the values of γ1\gamma_1γ1 and γ2\gamma_2γ2, it is observed that

the fluid from pump 1 flows into both tank 1 and tank 4, while the fluid from
pump 2 flows into both tank 2 and tank 3. As a result, the system becomes a
complex interaction 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

• 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

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

• Experimental Setup:
 • Tank.
• Pump.
• Bi-directional Valve.
• Transporting Pipes.

• Experimental Procedure:
• Kickstart your Simulink experience in MATLAB by setting up a blank workspace
for an innovative model framework.
• Move to the simulations tab and access the library browser, a vast collection of
blocks classified into various types like sources, sinks, and mathematical operations.
• Enhance your workspace by placing two step blocks from the sources category,
establishing system inputs.
• Incorporate a scope from the sink section to visualize the system’s outputs effectively.
 • Refine your model by adding a subsystem, strategically placed between the source
and sink blocks, designed to encapsulate your concept.
• Access the subsystem by double-clicking, where you'll define two inputs (pump
voltages) and four outputs (representing the water levels in tanks).
• Construct the internal logic using different mathematical operation blocks such as
adders, subtractors, gain controllers, integrators, and square root elements.
• Return to the main model and connect the step blocks to the subsystem inputs while
linking the outputs to the scope for observation.
• Optimize the subsystem by adjusting gain values and initializing integrators, with the
option to define these parameters using MATLAB variables.
• Run the simulation, initiating the computational process and analyzing the real-time
behavior of the four-tank system through the scope.
• Experiment with varying gamma values, exploring system responses under different
conditions while modifying the simulation time to suit your analysis needs.

• Data Table:

Table1 : Constants Table

Table2 : Initial values for two different operating conditions

Simulation Diagram:

fig. Subsystem for Tank1

fig. Subsystem for Tank2

 fig. Subsystem for Tank3

fig. Subsystem for Tank4

 fig. Overall Model of Quadrupled System including all the tanks

• Results and Discussion:

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

• At P- condition:

• Initially, Tank 1 and Tank 2 start with no water (y1=0,y2=0 y_1 = 0, y_2 = 0
y1=0,y2=0). Since they are empty, they begin draining water. However, after
some time, water from Tank 3 and Tank 4 starts flowing into them, causing their
water levels to gradually rise until they reach a steady-state condition.
• Tank 3 and Tank 4, on the other hand, continue to accumulate water since
they are receiving pumped input. Their water levels increase until
equilibrium is reached, where the amount of water being pumped in matches
the outflow, leading to a stable water level.
• 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
 • 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.

• 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.
• 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.