Linearization involves developing a linear approximation of a nonlinear system around an operating point. This allows tools from linear systems theory to be applied to analyze and design controllers for nonlinear systems. Specifically, Taylor's theorem is used to expand the nonlinear functions as a linear combination of deviations from the operating point. The resulting linearized model is only valid locally but provides an approximate way to analyze system behavior if well-controlled near the operating point. Examples show how to derive linearized models for common nonlinear systems like tanks and chemical reactors.
This document provides examples of related rates problems and their step-by-step solutions:
1) A hot air balloon rising straight up is tracked by a range finder 500 ft away. When the elevation angle is π/4 radians, the angle is increasing at 0.14 rad/min. The problem asks how fast the balloon is rising at that moment.
2) A police cruiser chasing a speeding car determines with radar that the distance between them is increasing at 20 mph when the cruiser is 0.6 mi north and the car is 0.8 mi east of an intersection. The problem asks for the speed of the car.
3) Water is flowing into a conical tank from the base
This document discusses steady-state errors in control systems. It defines steady-state error as the difference between the input and output of a system as time approaches infinity. For a unity feedback system, the steady-state error can be calculated from the closed-loop transfer function T(s) or open-loop transfer function G(s). The steady-state error depends on the type of input signal (step, ramp, or parabola) and number of integrations in the system. Systems are classified as Type 0, 1, or 2 based on this number of integrations. The document provides examples of calculating steady-state error for different system types and input signals.
This document discusses techniques for reducing block diagrams and signal flow graphs that represent complex control systems composed of multiple interconnected subsystems into a single transfer function. It introduces block diagram elements like summing junctions and pickoff points used to represent interconnections. Three methods for reducing block diagrams to an equivalent transfer function are presented: cascade form, parallel form, and feedback form. Rules are provided for moving blocks around diagrams to establish these familiar forms. Signal flow graphs are introduced as an alternative representation and Mason's rule is outlined as a method for reducing a signal flow graph to a transfer function. Examples are worked through to demonstrate these reduction techniques.
block diagram representation of control systemsAhmed Elmorsy
This document provides an introduction to block diagram representation of control systems. It discusses how block diagrams provide a pictorial representation of the relationships between elements in a system using blocks and arrows. The blocks represent system elements or operations, and the arrows represent the direction of signal or information flow. Specific topics covered include summing points, takeoff points, examples of representing equations as block diagrams, and canonical forms.
This document summarizes a research paper about centralized PID control of a nonlinear boiler-turbine unit. The researchers applied a control by decoupling methodology to design a multivariable PID controller for the 3x3 boiler-turbine process, which has strong interactions and input constraints. They obtained the PID controller by approximating an ideal decoupler that includes integral action. Additional gains were tuned to improve performance. An anti-windup strategy was incorporated to handle input constraints and achieve better response. Simulation results showed good decoupled response and tracking, comparable or better than other controllers.
Linearization involves developing a linear approximation of a nonlinear system around an operating point. This allows tools from linear systems theory to be applied to analyze and design controllers for nonlinear systems. Specifically, Taylor's theorem is used to expand the nonlinear functions as a linear combination of deviations from the operating point. The resulting linearized model is only valid locally but provides an approximate way to analyze system behavior if well-controlled near the operating point. Examples show how to derive linearized models for common nonlinear systems like tanks and chemical reactors.
This document provides examples of related rates problems and their step-by-step solutions:
1) A hot air balloon rising straight up is tracked by a range finder 500 ft away. When the elevation angle is π/4 radians, the angle is increasing at 0.14 rad/min. The problem asks how fast the balloon is rising at that moment.
2) A police cruiser chasing a speeding car determines with radar that the distance between them is increasing at 20 mph when the cruiser is 0.6 mi north and the car is 0.8 mi east of an intersection. The problem asks for the speed of the car.
3) Water is flowing into a conical tank from the base
This document discusses steady-state errors in control systems. It defines steady-state error as the difference between the input and output of a system as time approaches infinity. For a unity feedback system, the steady-state error can be calculated from the closed-loop transfer function T(s) or open-loop transfer function G(s). The steady-state error depends on the type of input signal (step, ramp, or parabola) and number of integrations in the system. Systems are classified as Type 0, 1, or 2 based on this number of integrations. The document provides examples of calculating steady-state error for different system types and input signals.
This document discusses techniques for reducing block diagrams and signal flow graphs that represent complex control systems composed of multiple interconnected subsystems into a single transfer function. It introduces block diagram elements like summing junctions and pickoff points used to represent interconnections. Three methods for reducing block diagrams to an equivalent transfer function are presented: cascade form, parallel form, and feedback form. Rules are provided for moving blocks around diagrams to establish these familiar forms. Signal flow graphs are introduced as an alternative representation and Mason's rule is outlined as a method for reducing a signal flow graph to a transfer function. Examples are worked through to demonstrate these reduction techniques.
block diagram representation of control systemsAhmed Elmorsy
This document provides an introduction to block diagram representation of control systems. It discusses how block diagrams provide a pictorial representation of the relationships between elements in a system using blocks and arrows. The blocks represent system elements or operations, and the arrows represent the direction of signal or information flow. Specific topics covered include summing points, takeoff points, examples of representing equations as block diagrams, and canonical forms.
This document summarizes a research paper about centralized PID control of a nonlinear boiler-turbine unit. The researchers applied a control by decoupling methodology to design a multivariable PID controller for the 3x3 boiler-turbine process, which has strong interactions and input constraints. They obtained the PID controller by approximating an ideal decoupler that includes integral action. Additional gains were tuned to improve performance. An anti-windup strategy was incorporated to handle input constraints and achieve better response. Simulation results showed good decoupled response and tracking, comparable or better than other controllers.
Identification and Tuning of Process with Inverse Responseomkarharshe
Stability of control law depends on model accuracy. System Identification is a statistical tool to build a mathematical model of dynamic systems from measured data.
This work develops a mathematical model of the boiler drum level control based on step response data. A proportional-integral tuning method is proposed and optimized to account for shrink and swell effect of drum level.
Feedback control is a process for controlling dynamic systems through continuous monitoring of outputs and adjusting inputs as needed. It works by comparing the actual output to a target setpoint and using that error to determine input adjustments to counteract deviations. A conceptual model involves a controller comparing feedback from the system output and error to the setpoint to determine new input values. The document provides an example of using feedback control to maintain someone's effective work hours at a target level and discusses benefits like automatic self-correction to changes.
DESIGN, IMPLEMENTATION, AND REAL-TIME SIMULATION OF A CONTROLLER-BASED DECOUP...IAEME Publication
The document describes the design, implementation, and real-time simulation of a controller-based decoupled continuous stirred tank reactor (CSTR) multi-input multi-output (MIMO) closed loop system. The CSTR process is modeled and linearized, then a decoupling control strategy is developed and simulated in Matlab/Simulink. The controller and system models are then transformed from Simulink to the Beckhoff TwinCAT 3 real-time environment for further real-time simulation and evaluation of the decoupling control approach. The results demonstrate the suitability of the method for both controller design and integration of Simulink models into a programmable logic controller system.
The human body maintains homeostasis through thousands of control systems that primarily use negative feedback. Negative feedback occurs when the output of a system counters changes to the input, stabilizing the system. In contrast, positive feedback acts to amplify responses through self-reinforcing cycles. Both negative and positive feedback loops help explain important biological processes like homeostasis, blood clotting, and childbirth, demonstrating how feedback mechanisms underlie many complex regulatory functions in the body.
Multivariable Control System Design for Quadruple Tank Process using Quantita...IDES Editor
This paper focus on design of multivariable
controller for Quadruple Tank Process, a two input two
output system with large plant uncertainty using QFT
methodology. In the present work, a new approach using
Quantitative Feedback Theory (QFT) is formulated for
design of a robust two degree of freedom controller for
Quadruple Tank Process. The design is done in frequency
domain. This paper presents a design method for a 2 x 2
multiple input multiple output system. The plant
uncertainties are transformed into equivalent external
disturbance sets, and the design problem becomes one of
the external disturbance attenuation. The objective is to
find compensator functions which guarantee that the
system performance bounds are satisfied over the range
of plant uncertainty. The methodology is successfully
applied to design a two degree of freedom compensator
Quadruple Tank Process.
Development of Multivariable Control Systems Rev 200Maung Maung Latt
This dissertation examines three decentralized control methods - BLT, SIMC, and ERGA - for controlling three distillation column systems found in literature. The BLT, SIMC, and ERGA methods use different loop pairing criteria and controller tuning approaches. Simulation models of the distillation systems are created in Matlab/Simulink. The performance of each control method is analyzed and compared based on criteria such as IAE, ISE, and ITAE. The dissertation aims to provide industrial engineers a reliable reference for selecting the most suitable decentralized control technique for a given distillation process.
The document discusses several topics related to multivariable process control including:
- Multivariable processes require at least as many inputs as outputs to be controllable.
- Multivariable analysis determines the relative contributions of different causes to an event.
- Transfer functions are used to identify relationships between inputs and outputs of a system.
- Interactions occur when the impact of a risk factor depends on a third variable.
- Relative gain array analysis evaluates interactions between loops to assess stability.
- Decouplers can be used to ensure partial or full decoupling in a multivariable system.
Adaptive Control Systems Paper Presentationguestac67362
The document discusses the use of an adaptive control system with a knowledge server in an intelligent CNC system. It proposes a knowledge server for controllers (KSC) that allows CNC systems to access intelligent processing capabilities. The KSC would contain various knowledge-based modules that CNC clients could access. This would provide a low-cost way to add artificial intelligence functions to CNC systems using a shared server. An early prototype integrated a KSC to provide adaptive control testing of machine axes.
Thermal runaways can occur in exothermic chemical reactions if the rate of heat production exceeds the rate of heat removal. This can cause a dangerous escalating temperature increase. Several factors contribute to runaways during scale-up from small-scale experiments to large industrial reactors, as heat removal does not scale linearly with size. Proper risk assessment and gradual scale-up through pilot plants is necessary to identify hazards and establish safe operating conditions before commercial production.
Process Dynamics and Control (2007 Edition) (Hardbound)
By K. T. Jadhav
Size : B5, Pages: 428; Price : Rs. 390.00
Buy this book from : www.chinttanpublications.in
Hawkeye technology has applications that can provide essential information. The document references Hawkeye technology but does not provide any details about what the technology is or what its applications are. More information would be needed to generate a meaningful summary.
Selective inventory control techniques like ABC, HML, FSN, and SDE analysis can help hospitals better manage their inventory. At Apollo Hospitals, ABC analysis showed that only 14.4% of drugs accounted for 70% of total expenditure, while 22.46% of drugs accounted for 20% of expenditure. This allows the hospital to prioritize inventory control measures for the most important and costly drugs, improving cost control and service levels. Selective inventory analysis has been successfully implemented in various industries to optimize inventory management.
This document discusses using cascade compensation to improve control system performance. Cascade compensation involves adding additional poles and zeros to the open-loop transfer function. This can improve the transient response by placing poles farther out in the s-plane, and improve steady-state error by increasing the system type. An example shows designing a PI controller to reduce steady-state error to zero without affecting the 57.4% overshoot transient response. Pole-zero cancellation is used to maintain the original transient response while increasing the system type.
This document discusses adaptive control systems for machining. It defines adaptive control as a feedback system that automatically adjusts machining variables like cutting speed and feed rate based on actual process conditions. The three main functions of adaptive control are identification, decision, and modification. Adaptive control systems are classified as adaptive control with optimization, which uses a performance index, or adaptive control with constraints, which maximizes variables within set limits. Benefits include increased production and tool life, while limitations include lack of reliable tool sensors and standardized interfaces with CNC units.
This document discusses stability analysis of control systems using transfer functions and the Routh-Hurwitz criterion. It begins by defining stability and describing different types of system responses. The key points are:
1) The Routh-Hurwitz criterion can determine stability by analyzing the signs in the first column of a constructed Routh table, with changes in sign indicating right half-plane poles and instability.
2) Special cases like a zero only in the first column or an entire row of zeros require alternative methods like the epsilon method or reversing coefficients.
3) Examples demonstrate applying the Routh-Hurwitz criterion to determine stability for different polynomials, including handling special cases. Exercises also have readers practice stability analysis using
Adaptive cruise control (ACC) provides assistance to the driver in the task of longitudinal control of their vehicle during motorway driving within limited acceleration ranges. The system controls the accelerator, engine powertrain and vehicle brakes to maintain a desired time-gap to the vehicle ahead.
This document provides information about a Control Systems Theory course, including:
- The assessment breakdown is 20% mini project, 20% lab report, 20% test, and 40% final exam.
- The teaching plan covers topics like system representation, response analysis, stability analysis, and controller design over 14 weeks.
- The objectives are to understand control systems concepts and evaluate system responses.
- Control systems are used to amplify power, allow remote control, improve input/output forms, and compensate for disturbances. Examples given include elevators, cruise control, ABS, and vehicle suspension.
The document discusses different types of chemical reactors used in industrial processes. It describes basic reactor components like tanks and pipes and operating modes like batch, continuous stirred-tank, and plug flow reactors. Key aspects covered include material and heat transfer, reaction rates, and the influence of temperature, pressure and catalysts. Common reactor designs are presented, such as jackets, coils and packed beds for heat exchange. The document also discusses homogeneous and heterogeneous catalysis.
Heat exchangers transfer heat from one fluid to another. There are two main types: tube-and-shell and plate. Tube-and-shell consists of tubes in a shell where fluids flow inside and outside the tubes. Plate heat exchangers use plates to separate fluids which flow between plates in alternating channels. Heat exchangers can operate in parallel, counter, or cross flow configurations. Performance tests determine the overall heat transfer coefficient and identify any fouling issues.
It is on Conjoint Analysis presented by Radhika Gupta, Shivi Agarwal, Neha Arya, Neha Kasturia, Mudita Maheshwari, Dhruval Dholakia, Chinmay Jaggan Anmol Sahani and Madhusudan Partani of FMG-18A, FORE School of Management
Identification and Tuning of Process with Inverse Responseomkarharshe
Stability of control law depends on model accuracy. System Identification is a statistical tool to build a mathematical model of dynamic systems from measured data.
This work develops a mathematical model of the boiler drum level control based on step response data. A proportional-integral tuning method is proposed and optimized to account for shrink and swell effect of drum level.
Feedback control is a process for controlling dynamic systems through continuous monitoring of outputs and adjusting inputs as needed. It works by comparing the actual output to a target setpoint and using that error to determine input adjustments to counteract deviations. A conceptual model involves a controller comparing feedback from the system output and error to the setpoint to determine new input values. The document provides an example of using feedback control to maintain someone's effective work hours at a target level and discusses benefits like automatic self-correction to changes.
DESIGN, IMPLEMENTATION, AND REAL-TIME SIMULATION OF A CONTROLLER-BASED DECOUP...IAEME Publication
The document describes the design, implementation, and real-time simulation of a controller-based decoupled continuous stirred tank reactor (CSTR) multi-input multi-output (MIMO) closed loop system. The CSTR process is modeled and linearized, then a decoupling control strategy is developed and simulated in Matlab/Simulink. The controller and system models are then transformed from Simulink to the Beckhoff TwinCAT 3 real-time environment for further real-time simulation and evaluation of the decoupling control approach. The results demonstrate the suitability of the method for both controller design and integration of Simulink models into a programmable logic controller system.
The human body maintains homeostasis through thousands of control systems that primarily use negative feedback. Negative feedback occurs when the output of a system counters changes to the input, stabilizing the system. In contrast, positive feedback acts to amplify responses through self-reinforcing cycles. Both negative and positive feedback loops help explain important biological processes like homeostasis, blood clotting, and childbirth, demonstrating how feedback mechanisms underlie many complex regulatory functions in the body.
Multivariable Control System Design for Quadruple Tank Process using Quantita...IDES Editor
This paper focus on design of multivariable
controller for Quadruple Tank Process, a two input two
output system with large plant uncertainty using QFT
methodology. In the present work, a new approach using
Quantitative Feedback Theory (QFT) is formulated for
design of a robust two degree of freedom controller for
Quadruple Tank Process. The design is done in frequency
domain. This paper presents a design method for a 2 x 2
multiple input multiple output system. The plant
uncertainties are transformed into equivalent external
disturbance sets, and the design problem becomes one of
the external disturbance attenuation. The objective is to
find compensator functions which guarantee that the
system performance bounds are satisfied over the range
of plant uncertainty. The methodology is successfully
applied to design a two degree of freedom compensator
Quadruple Tank Process.
Development of Multivariable Control Systems Rev 200Maung Maung Latt
This dissertation examines three decentralized control methods - BLT, SIMC, and ERGA - for controlling three distillation column systems found in literature. The BLT, SIMC, and ERGA methods use different loop pairing criteria and controller tuning approaches. Simulation models of the distillation systems are created in Matlab/Simulink. The performance of each control method is analyzed and compared based on criteria such as IAE, ISE, and ITAE. The dissertation aims to provide industrial engineers a reliable reference for selecting the most suitable decentralized control technique for a given distillation process.
The document discusses several topics related to multivariable process control including:
- Multivariable processes require at least as many inputs as outputs to be controllable.
- Multivariable analysis determines the relative contributions of different causes to an event.
- Transfer functions are used to identify relationships between inputs and outputs of a system.
- Interactions occur when the impact of a risk factor depends on a third variable.
- Relative gain array analysis evaluates interactions between loops to assess stability.
- Decouplers can be used to ensure partial or full decoupling in a multivariable system.
Adaptive Control Systems Paper Presentationguestac67362
The document discusses the use of an adaptive control system with a knowledge server in an intelligent CNC system. It proposes a knowledge server for controllers (KSC) that allows CNC systems to access intelligent processing capabilities. The KSC would contain various knowledge-based modules that CNC clients could access. This would provide a low-cost way to add artificial intelligence functions to CNC systems using a shared server. An early prototype integrated a KSC to provide adaptive control testing of machine axes.
Thermal runaways can occur in exothermic chemical reactions if the rate of heat production exceeds the rate of heat removal. This can cause a dangerous escalating temperature increase. Several factors contribute to runaways during scale-up from small-scale experiments to large industrial reactors, as heat removal does not scale linearly with size. Proper risk assessment and gradual scale-up through pilot plants is necessary to identify hazards and establish safe operating conditions before commercial production.
Process Dynamics and Control (2007 Edition) (Hardbound)
By K. T. Jadhav
Size : B5, Pages: 428; Price : Rs. 390.00
Buy this book from : www.chinttanpublications.in
Hawkeye technology has applications that can provide essential information. The document references Hawkeye technology but does not provide any details about what the technology is or what its applications are. More information would be needed to generate a meaningful summary.
Selective inventory control techniques like ABC, HML, FSN, and SDE analysis can help hospitals better manage their inventory. At Apollo Hospitals, ABC analysis showed that only 14.4% of drugs accounted for 70% of total expenditure, while 22.46% of drugs accounted for 20% of expenditure. This allows the hospital to prioritize inventory control measures for the most important and costly drugs, improving cost control and service levels. Selective inventory analysis has been successfully implemented in various industries to optimize inventory management.
This document discusses using cascade compensation to improve control system performance. Cascade compensation involves adding additional poles and zeros to the open-loop transfer function. This can improve the transient response by placing poles farther out in the s-plane, and improve steady-state error by increasing the system type. An example shows designing a PI controller to reduce steady-state error to zero without affecting the 57.4% overshoot transient response. Pole-zero cancellation is used to maintain the original transient response while increasing the system type.
This document discusses adaptive control systems for machining. It defines adaptive control as a feedback system that automatically adjusts machining variables like cutting speed and feed rate based on actual process conditions. The three main functions of adaptive control are identification, decision, and modification. Adaptive control systems are classified as adaptive control with optimization, which uses a performance index, or adaptive control with constraints, which maximizes variables within set limits. Benefits include increased production and tool life, while limitations include lack of reliable tool sensors and standardized interfaces with CNC units.
This document discusses stability analysis of control systems using transfer functions and the Routh-Hurwitz criterion. It begins by defining stability and describing different types of system responses. The key points are:
1) The Routh-Hurwitz criterion can determine stability by analyzing the signs in the first column of a constructed Routh table, with changes in sign indicating right half-plane poles and instability.
2) Special cases like a zero only in the first column or an entire row of zeros require alternative methods like the epsilon method or reversing coefficients.
3) Examples demonstrate applying the Routh-Hurwitz criterion to determine stability for different polynomials, including handling special cases. Exercises also have readers practice stability analysis using
Adaptive cruise control (ACC) provides assistance to the driver in the task of longitudinal control of their vehicle during motorway driving within limited acceleration ranges. The system controls the accelerator, engine powertrain and vehicle brakes to maintain a desired time-gap to the vehicle ahead.
This document provides information about a Control Systems Theory course, including:
- The assessment breakdown is 20% mini project, 20% lab report, 20% test, and 40% final exam.
- The teaching plan covers topics like system representation, response analysis, stability analysis, and controller design over 14 weeks.
- The objectives are to understand control systems concepts and evaluate system responses.
- Control systems are used to amplify power, allow remote control, improve input/output forms, and compensate for disturbances. Examples given include elevators, cruise control, ABS, and vehicle suspension.
The document discusses different types of chemical reactors used in industrial processes. It describes basic reactor components like tanks and pipes and operating modes like batch, continuous stirred-tank, and plug flow reactors. Key aspects covered include material and heat transfer, reaction rates, and the influence of temperature, pressure and catalysts. Common reactor designs are presented, such as jackets, coils and packed beds for heat exchange. The document also discusses homogeneous and heterogeneous catalysis.
Heat exchangers transfer heat from one fluid to another. There are two main types: tube-and-shell and plate. Tube-and-shell consists of tubes in a shell where fluids flow inside and outside the tubes. Plate heat exchangers use plates to separate fluids which flow between plates in alternating channels. Heat exchangers can operate in parallel, counter, or cross flow configurations. Performance tests determine the overall heat transfer coefficient and identify any fouling issues.
It is on Conjoint Analysis presented by Radhika Gupta, Shivi Agarwal, Neha Arya, Neha Kasturia, Mudita Maheshwari, Dhruval Dholakia, Chinmay Jaggan Anmol Sahani and Madhusudan Partani of FMG-18A, FORE School of Management
Αντικείμενο της παρούσης εργασίας είναι η κινηματική αναλυση σε ένα ρομποτικό βραχίονα με R-P-R με 3 βαθμούς ελευθερίας .Αρχικα θα γίνει μια θεωρητική μελέτη του προβλήματος πάνω στα συγκεκριμένα ζητούμενα και κατόπιν θα δοθούν οι συναρτήσεις που κατασκευάστηκαν στο λογισμικό Octave για την επίλυση των ζητουμένων .
Τεχνικές Αναγνώρισης Προτύπων και Μηχανικής Μάθησης για Εφαρμογές Ανάλυσης Πο...Yiannis Kompatsiaris
Η ομιλία περιλαμβάνει εφαρμογές τεχνικών αναγνώρισης προτύπων και μηχανικής μάθησης σε ανάλυση πολυμέσων και κοινωνικών δικτύων. Πιο συγκεκριμένα, θα παρουσιαστούν τεχνικές και εφαρμογές κατάτμησης εικόνων με χρήση Κ-Μέσων και επεκτάσεων, χρήση Support Vector Ma-chines για μάθηση εννοιών σε εικόνες καθώς και τεχνικές ανάλυσης γράφων από κοινωνικά δίκτυα. Θα παρουσιαστούν σχετικές εφαρμογές που αξιοποιούν τα αποτελέσματα της ανάλυσης, όπως αναζήτηση πολυμέσων και εφαρμογή για τουρισμό και ενημέρωση από κοινωνικά δίκτυα. Θα αναφερθούν τρέχοντα ερευνητικά προβλήματα και περιοχές.
Similar to Adaptive Control of Ball-Beam System (9)
The document proposes creating an online community called "Studoland" to help Greek university students access information about university activities, events, internships, and networking opportunities. It notes that currently students have no centralized place to find such information and risk missing valuable opportunities. Studoland would be a mobile app and website that consolidates information from various student groups and universities. It provides an analysis of the target customer base of students, competitors, and outlines a marketing strategy to promote the new platform.
"Φοιτητική Επιχειρηματικότητα: H πορεία από ένα μακρινό όνειρο σε μια δημιουργική επανάσταση" στην Ημερίδα, Ανοικτό Σεμινάριο, Workshop με θέμα "Νεανική Επιχειρηματικότητα, Καινοτομία και Τεχνολογία: Οι ιδέες και η δημιουργία σε εποχές κρίσης"
This document outlines a marketing plan to promote Olympia, Greece as a tourist destination. It begins with the vision of Olympia being a sustainable tourism destination that preserves cultural heritage while offering unique experiences. The plan includes a situation analysis noting strengths like history and weaknesses like transportation. Target markets are identified as local visitors and cruise passengers. The branding strategy is "Where the myths come alive...". The plan proposes improving existing products and services, developing new activities for families, and using traditional and social media for promotion. Partnerships with tour operators and the ministry of culture are also discussed.