Anything could be thought in mA and minutes.

Process transfer function F1(s)

A1 * v1' = v2 = 0.3mA (Valve step) A1 = 0.3mA/(15mA/min) = 0.02min

F2(s) Feedforward controller PD(PI)

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Error e = u - v1

v2 = u + B1 * u' + ^^^^^^^^^^^ Recognize PD1! (=PD)

- K
*** (e + 30 ***Integrator(e)) + z1 ^^^^^^^^^^^^^^^^^^^^^^ ^^ PI! K = 1 Integration[0...t] e dt + C, C=0 Forced disturbance z1 z1=0.1 at t=0.3

F1(s) Process transfer function

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A1*v1' + v1 + z2 = v2 ^^ Forced disturbance z2 z2=-0.1 at t=0.5

F3(s) Target filter (1st order)

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C1*u' + u = w (w = scheme)

Data used:

A1 = 0.02 min B1 = A1 C1 = A1 (for full compensation)

v1 ist NOT missing because you can integrate v1'.

v1 = Integration[0...t] v1' dt + C

Note: A tank is a machanical integrator with delta flow input (v2) and level v1 output.