Consider a process described by a set of linear differential equations The process is to be controlled by a proportional-integral-derivative (PID) control law governed by the equation ...

Consider a process described by a set of linear differential equations

The process is to be controlled by a proportional-integral-derivative (PID) control law governed by the equation

Suppose that the reference is subjected to a disturbance signal and the measurement sensor, which is contaminated with additive noise, measures the “square” of the output. Develop the model-based signal and noise models for this problem.