state-space versu s input output representations

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    TC1TC2

    TM1TM2

    Tsp

    Tcsp

    FCQ

    csp

    jacket

    CSTR

    Feed

    Product

    Coolant

    Coolant in

    Coolantout

    Tc

    T

    Q

    v

    x2sp

    x3sp

    x2

    x3

    qcspqcc

    FM1

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    +-

    xxqc 3 2

    x3sp

    x2sp

    coolantflowrate

    cooling

    jackettemperature reactortemperature

    jackettemperaturecontroller

    reactortemperaturecontroller

    reactor

    temperaturesetpoint

    jacket

    temperaturesetpoint

    c2g

    c1g

    2g

    1g

    +-

    +-

    x

    xqc 3

    2

    x3sp

    x2sp

    coolantflowrate

    coolingjacket

    temperature

    reactortemperature

    jackettemperaturecontroller

    reactortemperature

    controller

    reactortemperaturesetpoint

    jackettemperature

    setpoint

    c2g

    c1g

    2g

    g

    +-

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    7

    6

    5

    4

    3

    2

    1

    0

    x2

    76543210-1 x3

    7

    6

    5

    4

    3

    2

    1

    0

    x2

    2.52.01.51.00.50.0qc

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    7

    6

    5

    4

    3

    2

    1

    0

    x2

    543210-1 x3

    7

    6

    5

    4

    3

    2

    1

    0

    x2

    3.02.52.01.51.00.50.0qc

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    g2

    g1

    qc x3

    x2

    g

    +

    -

    +

    -

    x = f(x,u).

    C2

    C1c2

    gc1

    g

    x3

    qc x

    x2

    x3spx2sp

    x2

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    2.36

    2.35

    2.34

    2.33

    2.32

    2.31

    2.30

    2.29

    2.28

    x2

    876543210

    Cascade ControlNoncascade Control

    2.0

    1.8

    1.6

    1.4

    1.2

    1.0

    0.8

    0.6

    qc

    876543210

    Cascade ControlNoncascade Control

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    2.84

    2.82

    2.80

    2.78

    2.76

    2.74

    2.72

    2.70

    2.68

    x2

    6543210

    Includes inner-loop designDoesn't include inner-loop design

    1.2

    1.0

    0.8

    0.6

    0.4

    0.2

    0.0

    qc

    6543210

    Includes inner-loop designDoesn't include inner-loop design