Quadruple Tank Process

Parameter Values and chosen Operating Point
A1, A2, A3, A4 [ cm^2] – Tank Diameters	28, 32, 28, 32
a1, a2, a3, a4 [cm^2] – Orifice Diameters	0.071, 0.057, 0.071, 0.057
k1, k2 [cm^3 / Vs]	3.33, 3.35
kc [V/cm] – Gain of Ht – Voltage device	0.50
g [cm/s^2] – Acceleration due to gravity	981
g1, g2 – Flow distribution parameter	0.70, 0.60
h1^o, h2^o, h3^o, h4^o [cm] – Operating point	12.4, 12.7, 1.8, 1.4
v1^o, v2^o [V] – Operating point	3.00, 3.00

Governing Equations

Nonlinear Simulations using Simulink

Nonlinear model

Process Fault Introduction – Example: Leak in Tank 1

Simulation procedure

Measurement Noise = s - corresponding to Signal – Noise Ratio of 10

Process Noise = 3s

Datasets

Process in open loop
Identification data set
Sensor Biases	Actuator Biases
Sensor Bias in Y1 Bias of s Bias of 2s Bias of 3s Bias of 6s Bias of 10s Bias of 15s	Actuator Bias in U1 Bias of s Bias of 2s Bias of 3s Bias of 6s
Sensor Bias in Y2 Bias of s Bias of 2s Bias of 3s Bias of 6s Bias of 10s Bias of 15s	Actuator Bias in U2 Bias of s Bias of 2s Bias of 3s Bias of 6s