The quadruple tank problem (Example 14.2) is presented in the following paper: Johansson, K. H. , “The Quadruple-Tank Process. A Multivariable Laboratory Process with an Adjustable Zero,” IEEE Trans. Cont. Syst. Tech., 8(3), 456–465 (2000).
Control performance limitations due to RHP transmission zeros is discussed in the following texts and papers:
Holt, B. R., and M., Morari “Design of Resilient Processing Plants—VI: The Effect of Right-Half-Plane Zeros on Dynamic Resilience,” Chem. Eng. Sci., 40(1), 59–74 (1985).
Morari, M., and E. Zafiriou , Robust Process Control, Prentice Hall, Upper Saddle River, NJ (1989).
Skogestad, S., and I. Postlethwaite , Multivariable Feedback Control: Analysis and Design, Wiley, New York (1996).
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