A feedforward control system is to be designed for the two-tank heating system shown in Fig. The design objective is to regulate temperature 74, despite variations in disturbance variables T1 and w. The voltage signal to the heater p is the manipulated variable. Only T1 and w are measured. Also, it can be assumed that the heater and transmitter dynamics are negligible and that the heat duty is linearly related to voltage signal p.(a) Design a feedforward controller based on a steady-state analysis. This control law should relate p to T1m and Wm.(b) Is dynamic compensation desirable? Justify youranswer.

T'im T2 . 2 FT T4