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heater-water
isolation
Heat
resistance R 2
solicited
temperature θ 2
Modeling: a non-linear plant and its electrical equivalent
water
temperature θ
controller
water
Industrial Automation
ambient-water isolation R 1
C
ambient
temperature
θ a
heating
energy Uq 1 1
( + )
dx R1
R2
1 1
= −x
+ U q + Ua
dt C R C R C
cooling
dx
dt
= −Ax
+ Bu + C
1
2
U q
Electrical equivalent
dx
dt
8/40 2.2 Continuous plants and regulation
R 1
C
R2
U a
U a
(ambient temperature)
= −x
1 + 1 Ux
R C R C
dx
dt
2
2
= −Dx
+ E
x ~ θ
u a ~ θ a