<!DOCTYPE OMNotebook>
<Notebook>
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    <Text>&lt;html>&lt;head>&lt;meta name="qrichtext" content="1" />&lt;/head>&lt;body style=" white-space: pre-wrap; font-family:MS Shell Dlg; font-size:8.25pt; font-weight:400; font-style:normal; text-decoration:none;">&lt;p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:Arial; font-size:38pt; font-weight:600; color:#000000;">Using the Traditional Approach&lt;/p>&lt;/body>&lt;/html></Text>
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   <TextCell style="Text" >
    <Text>&lt;html>&lt;head>&lt;meta name="qrichtext" content="1" />&lt;/head>&lt;body style=" white-space: pre-wrap; font-family:MS Shell Dlg; font-size:8.25pt; font-weight:400; font-style:normal; text-decoration:none;">&lt;p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:Times New Roman; font-size:12pt; color:#000000;">&lt;br />Below, we show how to model a tank system using the traditional approach.&lt;br />&lt;/p>&lt;/body>&lt;/html></Text>
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    <Text>&lt;html>&lt;head>&lt;meta name="qrichtext" content="1" />&lt;/head>&lt;body style=" white-space: pre-wrap; font-family:MS Shell Dlg; font-size:8.25pt; font-weight:400; font-style:normal; text-decoration:none;">&lt;p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:Times New Roman; font-size:12pt; color:#000000;">&lt;img src="file:///C:/OpenModelica132/bin/OMNoteboook_tempfiles/1.png" width="402" height="128" />&lt;/p>&lt;/body>&lt;/html></Text>
    <Image name="file:///C:/OpenModelica132/bin/OMNoteboook_tempfiles/1.png" >AAAAAYlQTkcNChoKAAAADUlIRFIAAAGSAAAAgAgDAAAAFjUf7AAAAwBQTFRFAAAAwMDA////AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAXxqxmgAAAAlwSFlzAAALEwAACxMBAJqcGAAABkxJREFUeJztnIuSpCAMRbP8/0dv7XYjSXgIIWigc6ucnlaMkSNcRGcguIwJ3k7AxeVIzMmRmJMjMSdHYk6OxJwciTk5EnNyJObkSMzJkZiTIzEnR2JOjsScHIk5ORJzciTmBNk3jcU1IVaBoKF3zuQYZUjCdBtxJHPiSBT6LUcyJ+YlMOcH8I3hmlDWSuRM3N91VPMSaSz3kmlVvUQaLHqJj9KkMuIljiSp7SXfyzdexvEHfNjRjdM+5Pqo6SXYHK4NQO9eEqsZL3EkSU0vAfRBkJQ2XmUcyZzaXgKASZSRYHeGa8WgsTuSpNv7kmLHhfaExr79CTiSpNv7kn4kMi9pIGkEugYWB7K89RKOBNiKWS+RIzm1ffV4CRrnAqR2wDeGxGw4gTqST/irFACZrCaF/g/O43ecGmw18XbrJWOhVL0E9ZWxFO46qYt9eJGtqTFvBKTDSwZjaXsJY0DdLFY19zi2erPOreklkmDKXhIHyhEJ4I4sUiFrIa1OOS1TFnr4mrwJib1EvOi3ks8XYnLFQoA2EUJDGQ1pOZJ5HqUsOxKQIIGs0EokdMQAqH2Ga8oP9a6o3PCR+IHDNA99JPmPAhLItmoiYSFpPbEceDnBofBXDQkSqCKhE834WgzoVpGsDfyS1kISQgY/v2wYEvmh3lMDiSWNImHDEMGh3tOhSOhukkO9J0dSOdR7kiF5PG1u72ide0mQjWNmxQfBIQ0k+BADWLnRI6nkOyEBktdzXqvXT28YyV5ziAK9fn6DSI4HsgLJYMQykkoQg0D0U9oKyS8AsYqkeKYWm8geQRe1EotA1qS0CZLfAfIgktoMcReSHwLyEJLWjH2HlzzYRBY/iejLYXXEu7RvW8mjfVbfsVBKLyAZ305q874+K0gMX6HkuDsh6a2yCpI/HXoFCTurRTn8f2Z/1SB6HIZnl/FTsuZUJ/TjiLEKvZ1VJJ3TDLM5fN6vQDPOaNIfULmQ3jqsPxAY7VC2aiX5qS1rJbT6G0ho2QxJenowlMA2SBR26AvJkMQuKTWaEP0Wlc2e98fmcRiSm7HFI0hSpeNDJk8JhfW4t9JAYshLapk8iKTlJZ9fyqhSRBUJkQhqCKpfPmtsIIG6l5DLumTvofifcUbfonwQyc3+BpB8Lfqq8ss0Yt/EHKcUMavj0rrmMoAEEO7B0V7Kt24N7yDRj0h5CP6jVD+S2KzSx3i+9I6LbT4BCbveZW9+P4skHI5kxkPGvcSRdEWUe8i9l/BbA2Uk+Y3HGUjkHnLt224aKPdlreQkJFMeEpduJPTNUOmI63AkMx5y7yV5pekmz389A4nCX6E6Et2Ik31W6PYSdZ2KZJpH8I5LNd7MOCstjkQtGpARjHvJZA7VNcVNhWLk3u1aerMQeEln9AGdhSS9ThEUmLyFxOTdO8TU4kaIXxkSMhOOnyoqMOmfUNFVoTqMIPn2QBFJ7JAIElzhBE6JRylzyL71eEm5wWipUB3VAXNlhxU5hEAYQCgjSXuzN3hDgckNkgEveRqJ9g6SkJ8qST0X0K9kx2JNF5h8d4ds/usqwBdHwtYUjIEXriMptRPS9FDbI82oy0sciQRJy0toN1jtuxwJX5Pqm/zoRVLzEtT9QcRd3Me9JF9zDSlwXcq9JJXGSFpMHIlqxDsvQZ/uJU+ErHrJp0eqIHnaSyr7Houk4CXfQTBvJbFj5IsjUY1YZNKRxlovSV1nvDmKK9nUw5j2QFJuJx15LPUSfgA82KDd55A2QTLMIyay1Evo+A74tZOyGIyqrvVeIloWIrlujiD2WzN/M70HEh0mXW8vDOWVxhO8leBCo2c7usMbIXWevaundb2CF67H0eTiicmPRlXLb2FImOYRYMWZxphpJH51ZFmZ4aCasuol6mn16VAkKkzU06plylYNx1DJZHFIq15SzJVTORWJUS+ppDv3X2p2QbKZlyAqhyLZxkt40pLj7oFkIy/JdCoSrTbSdwuvK8HZasuol6hn1SNJ69wDyZ48/kn2l47qWSyIuCsTQb+1C5JNmYiOvAuSTZlItAcSFSbvSNJKZsZrlZDa+q37kgUy6iWORDvifL+lnlafDkWys78fisS9ZE7uJUSnjrh+yUsWJLrCSzRuEF7SmUi2liMxJ0diTha6WEdiTo7EnByJOf0Fj0hwlaIiwFoAAAAASUVORK5CYII=</Image>
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    <Text>&lt;html>&lt;head>&lt;meta name="qrichtext" content="1" />&lt;/head>&lt;body style=" white-space: pre-wrap; font-family:MS Shell Dlg; font-size:8.25pt; font-weight:400; font-style:normal; text-decoration:none;">&lt;p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:8pt;">&lt;span style=" font-family:Courier New; font-size:12pt; color:#000000;"> &lt;/span>&lt;span style=" font-family:Times New Roman; font-size:12pt; color:#000000;">A tank system with a tank, a source for liquid, and a controller.&lt;/span>&lt;/p>&lt;/body>&lt;/html></Text>
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    <TextCell style="Section" >
     <Text>&lt;html>&lt;head>&lt;meta name="qrichtext" content="1" />&lt;/head>&lt;body style=" white-space: pre-wrap; font-family:MS Shell Dlg; font-size:8.25pt; font-weight:400; font-style:normal; text-decoration:none;">&lt;p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:Times; font-size:18pt; font-weight:600; color:#000000;">FlatTank Model&lt;/p>&lt;/body>&lt;/html></Text>
    </TextCell>
    <TextCell style="Text" >
     <Text>&lt;html>&lt;head>&lt;meta name="qrichtext" content="1" />&lt;/head>&lt;body style=" white-space: pre-wrap; font-family:MS Shell Dlg; font-size:8.25pt; font-weight:400; font-style:normal; text-decoration:none;">&lt;p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:Times New Roman; font-size:12pt; color:#000000;">The &lt;span style=" font-family:Courier New;">FlatTank&lt;/span> model is a [OpenCurlyDoubleQuote]flat[CloseCurlyDoubleQuote] model of the tank system with no internal hierarchical [OpenCurlyDoubleQuote]system structure[CloseCurlyDoubleQuote] visible, i.e. just a collection of variables and equations that model the system dynamics. The internal system structure consisting of components, interfaces, couplings between the components, etc. is not reflected by this model.&lt;br />&lt;/p>&lt;/body>&lt;/html></Text>
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     <Input>model FlatTank
 // Tank related variables and parameters
  parameter Real flowLevel(unit = "m3/s") = 0.02;
  parameter Real area(unit = "m2")        = 1;
  parameter Real flowGain(unit = "m2/s")  = 0.05;
  Real           h(start = 0, unit = "m")         "Tank level";
  Real           qInflow(unit = "m3/s")          "Flow through input valve";
  Real           qOutflow(unit = "m3/s")         "Flow through output valve";
  
 // Controller related variables and parameters
  parameter Real K = 2                           "Gain";
  parameter Real T(unit = "s")        = 10         "Time constant";
  parameter Real minV=0, maxV        = 10;        // Limits for flow output
  Real           ref = 0.25                "Reference level for control";
  Real           error                     "Deviation from reference level";
  Real           outCtr                    "Control signal without limiter";
  Real           x                        "State variable for controller";
  
equation
  assert(minV>=0, "minV must be greater or equal to zero");
  der(h)   = (qInflow - qOutflow)/area;           // Mass balance equation
  qInflow    = if time > 150 then 3*flowLevel else flowLevel; 
  qOutflow   = LimitValue(minV, maxV, -flowGain*outCtr);
  error    = ref - h;
  der(x)   = error/T;
  outCtr   = K*(error + x);
end FlatTank;</Input>
     <Output></Output>
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     <Text>&lt;html>&lt;head>&lt;meta name="qrichtext" content="1" />&lt;/head>&lt;body style=" white-space: pre-wrap; font-family:MS Shell Dlg; font-size:8.25pt; font-weight:400; font-style:normal; text-decoration:none;">&lt;p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:Times; font-size:18pt; font-weight:600; color:#000000;">LimitValue&lt;/p>&lt;/body>&lt;/html></Text>
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    <TextCell style="Text" >
     <Text>&lt;html>&lt;head>&lt;meta name="qrichtext" content="1" />&lt;/head>&lt;body style=" white-space: pre-wrap; font-family:MS Shell Dlg; font-size:8.25pt; font-weight:400; font-style:normal; text-decoration:none;">&lt;p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:Times New Roman; font-size:12pt; color:#000000;">A &lt;span style=" font-style:italic;">limiter function&lt;/span> is needed in the model to reflect minimum and maximum flows through the output valve:&lt;/p>&lt;/body>&lt;/html></Text>
    </TextCell>
    <InputCell style="Input" closed="true" >
     <Input>function LimitValue
  input  Real pMin;
  input  Real pMax;
  input  Real p;
  output Real pLim;
 algorithm
  pLim := if p>pMax then pMax
          else if p&lt;pMin then pMin 
          else p;
end LimitValue;</Input>
     <Output></Output>
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    <TextCell style="Section" >
     <Text>&lt;html>&lt;head>&lt;meta name="qrichtext" content="1" />&lt;/head>&lt;body style=" white-space: pre-wrap; font-family:MS Shell Dlg; font-size:8.25pt; font-weight:400; font-style:normal; text-decoration:none;">&lt;p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:Times; font-size:18pt; font-weight:600; color:#000000;">MakeAlive on LimitValue&lt;/p>&lt;/body>&lt;/html></Text>
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     <Input>MakeAlive[LimitValue]
</Input>
     <Output></Output>
    </InputCell>
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     <Text>&lt;html>&lt;head>&lt;meta name="qrichtext" content="1" />&lt;/head>&lt;body style=" white-space: pre-wrap; font-family:MS Shell Dlg; font-size:8.25pt; font-weight:400; font-style:normal; text-decoration:none;">&lt;p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:Times New Roman; font-size:12pt; color:#000000;">&lt;/p>&lt;/body>&lt;/html></Text>
    </TextCell>
    <InputCell style="Input" closed="true" >
     <Input>LimitValue[4, 10, 6
]
</Input>
     <Output></Output>
    </InputCell>
    <InputCell style="Input" closed="true" >
     <Input>LimitValue[4, 10, 3
]
</Input>
     <Output></Output>
    </InputCell>
    <InputCell style="Input" closed="true" >
     <Input>LimitValue[1, 10, 12
]
</Input>
     <Output></Output>
    </InputCell>
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   <GroupCell closed="true" >
    <TextCell style="Section" >
     <Text>&lt;html>&lt;head>&lt;meta name="qrichtext" content="1" />&lt;/head>&lt;body style=" white-space: pre-wrap; font-family:MS Shell Dlg; font-size:8.25pt; font-weight:400; font-style:normal; text-decoration:none;">&lt;p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:Times; font-size:18pt; font-weight:600; color:#000000;">GetFlatDefinitions on FlatTank&lt;/p>&lt;/body>&lt;/html></Text>
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     <Input>GetFlatDefinition[FlatTank]
 //ToModelica
</Input>
     <Output></Output>
    </InputCell>
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    <TextCell style="Section" >
     <Text>&lt;html>&lt;head>&lt;meta name="qrichtext" content="1" />&lt;/head>&lt;body style=" white-space: pre-wrap; font-family:MS Shell Dlg; font-size:8.25pt; font-weight:400; font-style:normal; text-decoration:none;">&lt;p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:Times; font-size:18pt; font-weight:600; color:#000000;">Simulation of FlatTank&lt;/p>&lt;/body>&lt;/html></Text>
    </TextCell>
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     <Input>simulate( FlatTank, stopTime=250 );</Input>
     <Output></Output>
    </InputCell>
    <TextCell style="Output" >
     <Text>&lt;html>&lt;head>&lt;meta name="qrichtext" content="1" />&lt;/head>&lt;body style=" white-space: pre-wrap; font-family:MS Shell Dlg; font-size:8.25pt; font-weight:400; font-style:normal; text-decoration:none;">&lt;p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:Courier New; font-size:11pt; color:#000000;">&lt;/p>&lt;/body>&lt;/html></Text>
    </TextCell>
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     <Input>plot( h );</Input>
     <Output>&lt;html>&lt;head>&lt;meta name="qrichtext" content="1" />&lt;/head>&lt;body style=" white-space: pre-wrap; font-family:MS Shell Dlg; font-size:8.25pt; font-weight:400; font-style:normal; text-decoration:none;">&lt;p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:Courier New; font-size:11pt; color:#000000;">&lt;/p>&lt;/body>&lt;/html></Output>
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     <Text>&lt;html>&lt;head>&lt;meta name="qrichtext" content="1" />&lt;/head>&lt;body style=" white-space: pre-wrap; font-family:MS Shell Dlg; font-size:8.25pt; font-weight:400; font-style:normal; text-decoration:none;">&lt;p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:Times New Roman; font-size:12pt; color:#000000;">&lt;img src="file:///C:/OpenModelica132/bin/OMNoteboook_tempfiles/2.png" width="288" height="214" />&lt;/p>&lt;/body>&lt;/html></Text>
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     <Text>&lt;html>&lt;head>&lt;meta name="qrichtext" content="1" />&lt;/head>&lt;body style=" white-space: pre-wrap; font-family:MS Shell Dlg; font-size:8.25pt; font-weight:400; font-style:normal; text-decoration:none;">&lt;p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:Times New Roman; font-size:12pt; color:#000000;">&lt;span style=" font-family:Courier New; font-weight:600;">Diagram 1:&lt;/span>&lt;span style=" font-family:Courier New;">  Simulation of the FlatTank model with plot of the tank level.&lt;br />&lt;/span>&lt;/p>&lt;/body>&lt;/html></Text>
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