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Process Control: Modeling, Design, and Simulation by B. Wayne Bequette

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2.6. Form of Dynamic Models

The dynamic models derived in this chapter consist of a set of first-order (only first derivatives with respect to time), nonlinear, explicit, initial-value, ordinary differential equations. A representation of a set of first-order differential equations is

Equation 2.63

where xi is a state variable, ui is an input variable, and pi is a parameter. The notation is used to represent dxi/dt. Notice that there are nx equations, nx state variables, nu inputs, and np parameters.

Also included in these models is a set of algebraic ...

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