Process Control: Modeling, Design, and Simulation

2.6. Form of Dynamic Models

The dynamic models derived in this chapter consist of a set of first-order (only first derivatives with respect to time), nonlinear, explicit, initial-value, ordinary differential equations. A representation of a set of first-order differential equations is

Equation 2.63

where x_i is a state variable, u_i is an input variable, and p_i is a parameter. The notation is used to represent dx_i/dt. Notice that there are nx equations, nx state variables, nu inputs, and np parameters.

Also included in these models is a set of algebraic ...