can you solve this problem please .. (Multivariable Feedback Control - Analysis and design).

Problem 2(25%). General Control Problem Formulation. Figure B.1: Neutralization process Consider the neutralization process in Figure B.1 where acid is added in two stages. Most of the neutraization takes place in tank 1 where a large amount of acid is used (input u1 ) to get pH about 10 (measurement y1 ). In tank 2 the pH is fine-tuned to about 7 (output y2 ) by using a small amount of acid (input u2 ). (This is just to give you some idea of a real process; all the information you need to solve the problem is given below). A blodk diagram of the process is shown in Figure B.2. There are one disturbance, two inputs and two measurements ( y1 an y2 ). The main control objective is to keep y2r2. In addition we would like to reset input 2 to its Problem 2(25%). General Control Problem Formulation. Figure B.1: Neutralization process Consider the neutralization process in Figure B.1 where acid is added in two stages. Most of the neutraization takes place in tank 1 where a large amount of acid is used (input u1 ) to get pH about 10 (measurement y1 ). In tank 2 the pH is fine-tuned to about 7 (output y2 ) by using a small amount of acid (input u2 ). (This is just to give you some idea of a real process; all the information you need to solve the problem is given below). A blodk diagram of the process is shown in Figure B.2. There are one disturbance, two inputs and two measurements ( y1 an y2 ). The main control objective is to keep y2r2. In addition we would like to reset input 2 to its