Tanque 1

q alm1=qe −q 1 … …(1)
d h1
q alm1=c1 − … …(2)
dt
h1−h2
R 1= … …(3)
q1
Tanque 2

q alm2=q1−qs

d h2
q alm1=c 2−
dt
h2
R 2=
qs

h1−h2
q 1=
R1
d h1
c1 =q e −q1
dt
d h1 h 1−h2
c1 =q e −
dt R1
d h1
R1 c 1 +h 1=R1 qe +h2 … …( A)
dt
d h2 h1−h 2
c2 = −qs
dt R1
d h2
R1 c 2 +h 2=h1−R 1 q s … … ( B )
dt
h2 =R 2 q s … … ( C )

Aplicando Laplace

( R1 C1 s +1 ) H 1 ( s )=R1 Q e ( s ) + H 2 ( s ) … … ( A 1 )
( R1 C2 s +1 ) H 2 ( s )=R1 Q S ( s ) + H 1 ( s ) … … ( B1 )
H 2 ( s )=R2 Qs ( s ) … … ( C1 )
 H 1 ( s )=( R1 C2 s +1 ) H 2 ( s )+ R 1 Q S ( s ) ( R1 C2 s +1 ) [ ( R1 C2 s +1 ) H 2 ( s )+ R 2 Q s ( s ) ]

¿ R1 Qe ( s ) + H 2 ( s ) … …(D)

( R1 C1 s +1 ) [ ( R1 C2 s +1 ) R2 Q s+ R1 Q S ( s ) ]=R1 Qe ( s )
2
(R1 C1 R1 R 2 C 2 S + R1 R2 C 2 S+ R 1 R1 C1 S + R1 R 2 C 2 S+ R 2+ R 1−R2) QS ( s ) =R1 Q e (s)

(C 1 R 1 R2 C2 S 2 +C1 R2 S+ R 1 C 1 S+ R 2 C 2 S+1 ) Q S ( s )=Qe ( s )

Qs ( s ) 1
=
Qe ( s ) ( C 1 R1 R2 C 2 S +C 1 R 2 S+ R1 C1 S + R2 C2 S +1 )
2

H 1 (S)
Para
Q e (S)

Despejando H 2 y aplicando Laplace a (3)

H 2=H 1−R 1 q 1 (s )

H 1−R1 q 1 ( s )=R 2 Q S

H 1−R1 QS (s)
H 2=
R 1 C 2 S+1

H 1−R1 QS ( s )
(R ¿ ¿ 1 C 2 S +1)H 1 ( s )=R1 Qe ( s )+ ¿
R1 C2 S +1

H 1−R 1 Q1 ( s )
QS ( s ) =
R2

H 1−R1 Q1 ( s )
H 1−R1 ( )
R2
(R ¿ ¿ 1 C1 S +1)H 1 ( s )=R1 Qe ( s ) + ¿
R1 C 2 S+ 1

R 2 H 1 ( S )−R1 H 1 ( S ) −R21 q1
R2
(R ¿ ¿ 1 C1 S +1)H 1 ( s )− =R 1 Qe ( s ) ¿
R1 C 2 S+1
2
R2 H 1 ( S )−R 1 H 1 ( S )−R1 q1
(R ¿ ¿ 1 C1 S +1)H 1 ( s )− =R1 Qe ( s ) ¿
R2 ( R1 C 2 S +1 )

Factor (A)
 [ ]
2
1 1 R 1 q1
H 1 ( s ) R 1 C 1 S+1− + + =R1 Qe ( s )
R1 C 2 S+1 R2 ( R1 C2 S +1 ) R 2 ( R1 C 2 S+1 )

[ ]
2
R 1+ R 2 R 1 q1
H 1 ( s ) R 1 C 1 S+1− + =R1 Qe ( s )
R 2 ( R1 C2 S +1 ) R 2 ( R1 C 2 S+1 )

[
( R1 C 2 S+1 ) ( R1 C2 S +1 )−( 1+ R 1 )
]
2
R1q1
H1 (s ) + =R1 Q e ( s )
( R 1 C 2 S+1 ) R2 ( R1 C2 S +1 )

H1 (s )¿

H 1 ( s ) R1
[ R2 ( R1 C 1 C 2 S 2+C 1 S+ C2 S−1 ) + q1 ( s )
R 2 ( R1 C2 S +1 ) ] = R1 Q e ( s )

H 1 [ R2 R 1 C 1 C 2 S2 + ( R2 C 1+ R 2 C 2) S+ ( q1 ( s )−R 2) ]=Qe ( s ) [ R 2 R1 C1 C2 S +1 ]

H 1 (S) R2 R1 C 1 C 2 S+ R 2
=
Qe (s) R2 R 1 C 1 C 2 S + ( R 2 C 1+ R 2 C 2 ) S+ ( q1 ( s )−R 2)
2

(R ¿ ¿ 1 C1 S +1)¿ ¿

H2 (S )
QS ( S ) =
R2

(R ¿ ¿ 1 C1 S +1)¿ ¿

( )
2
R1 C 1 S R1
( R 21 C 1 C 2 S2 + R1 C1 S + R1 C2 S +1 ) H 2+ R2
+ H ( S )−H 2 (S )¿ R1 Qe (S )
R2 2

( )
2
2 2 R C S + R1
H 2 R C1 C 2 S + R1 C 1 S + R1 C 2 S+ 1 1
1 =R 1 Qe ( S )
R2
2 2 2
H 2 [ R1 R 2 C 1 C 2 S + R1 R2 C 1 S+ R 1 R2 C2 S + R1 C1 S + R1 ]¿ R 1 R2 Qe (S )

H 2 (S) R1 R 2
= 2
Qe (S) R1 R 2 C 1 C 2 S + R 1 R2 C1 S + R1 R 2 C 2 S+ R21 C 1 S + R1
2

H 2 (S) R2
=
Qe (S) R1 R 2 C 1 C 2 S + R 2 C 1 S+ R2 C2 S + R1 C1 S +1
2