Two tanks with area a = 2/ are connected together in the following way in the Figure. Where the two valves are nonlinear with flow rates q = - - - h and q2 = 1h. The nominal parameters of the system are: h10 = 16 and h20 (a) Obtain the model that describe the system dynamics. (b) Linearize the system. (c) Obtain the system's transfer matrix. 64 U1 U2 Th h q1 h q2 a d) Design a decoupled PI controller such that the establishment time is 12 s, for a unit step input. e) Demonstrate that the closed-loop system is stable and with zero stationary error for a unit step input. f) Using the previous PI controller design a coupled controller. g) Simulate the complete system steps a and c