For the Liquid level storage system in Exercise 18.l0:
(a) Derive a transfer function model of the form,
Y(s) = Gp(s)U(s) + Gd(s) D(s)
where D is the disturbance variable and Gd is a 2×1 matrix of disturbance transfer functions.
(b) Draw a block diagram for a multiloop control system based on the following pairing; h1–q1/h2–q2. Do not attempt to derive transfer functions for the transmitters, control valves, or controllers.