Thermodynamic Study of the Solubility of Benzoin in Ethyl Acetate (1)+Ethanol (2) Mixtures

Las solubilidades en equilibrio de benzoína (3) en mezclas de acetato de etilo + etanol se determinaron a varias temperaturas de 283.15-323.15 K. La energía de Gibbs, la entalpía y la entropía de la solución y de la mezcla se obtuvieron de estos datos de solubilidad. La solubilidad fue máxima en la...

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Autores:
Garrido Romero, Alan Ernesto
Aroca Trujillo, Jorge Luis
Rodriguez Serrezuela, Ruthber
Caviedes Rubio, Diego Iván
Delgado, Daniel Ricardo
Tipo de recurso:
Article of journal
Fecha de publicación:
2019
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Universidad Cooperativa de Colombia
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Repositorio UCC
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oai:repository.ucc.edu.co:20.500.12494/15543
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https://hdl.handle.net/20.500.12494/15543
Palabra clave:
Benzoin
Termodinámica de soluciones
Ethyl Acetate (1)+Ethanol (2)
Benzoin
Solution Thermodynamic
Ethyl Acetate (1)+Ethanol (2)
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openAccess
License
Atribución – No comercial – Compartir igual
id COOPER2_53215041e3dff3555c2618ecd4389458
oai_identifier_str oai:repository.ucc.edu.co:20.500.12494/15543
network_acronym_str COOPER2
network_name_str Repositorio UCC
repository_id_str
dc.title.spa.fl_str_mv Thermodynamic Study of the Solubility of Benzoin in Ethyl Acetate (1)+Ethanol (2) Mixtures
title Thermodynamic Study of the Solubility of Benzoin in Ethyl Acetate (1)+Ethanol (2) Mixtures
spellingShingle Thermodynamic Study of the Solubility of Benzoin in Ethyl Acetate (1)+Ethanol (2) Mixtures
Benzoin
Termodinámica de soluciones
Ethyl Acetate (1)+Ethanol (2)
Benzoin
Solution Thermodynamic
Ethyl Acetate (1)+Ethanol (2)
title_short Thermodynamic Study of the Solubility of Benzoin in Ethyl Acetate (1)+Ethanol (2) Mixtures
title_full Thermodynamic Study of the Solubility of Benzoin in Ethyl Acetate (1)+Ethanol (2) Mixtures
title_fullStr Thermodynamic Study of the Solubility of Benzoin in Ethyl Acetate (1)+Ethanol (2) Mixtures
title_full_unstemmed Thermodynamic Study of the Solubility of Benzoin in Ethyl Acetate (1)+Ethanol (2) Mixtures
title_sort Thermodynamic Study of the Solubility of Benzoin in Ethyl Acetate (1)+Ethanol (2) Mixtures
dc.creator.fl_str_mv Garrido Romero, Alan Ernesto
Aroca Trujillo, Jorge Luis
Rodriguez Serrezuela, Ruthber
Caviedes Rubio, Diego Iván
Delgado, Daniel Ricardo
dc.contributor.author.none.fl_str_mv Garrido Romero, Alan Ernesto
Aroca Trujillo, Jorge Luis
Rodriguez Serrezuela, Ruthber
Caviedes Rubio, Diego Iván
Delgado, Daniel Ricardo
dc.subject.spa.fl_str_mv Benzoin
Termodinámica de soluciones
Ethyl Acetate (1)+Ethanol (2)
topic Benzoin
Termodinámica de soluciones
Ethyl Acetate (1)+Ethanol (2)
Benzoin
Solution Thermodynamic
Ethyl Acetate (1)+Ethanol (2)
dc.subject.other.spa.fl_str_mv Benzoin
Solution Thermodynamic
Ethyl Acetate (1)+Ethanol (2)
description Las solubilidades en equilibrio de benzoína (3) en mezclas de acetato de etilo + etanol se determinaron a varias temperaturas de 283.15-323.15 K. La energía de Gibbs, la entalpía y la entropía de la solución y de la mezcla se obtuvieron de estos datos de solubilidad. La solubilidad fue máxima en la mezcla con w = 0,90 y muy baja en 1 etanol puro a todas las temperaturas estudiadas. Se obtuvo un gráfico no lineal de Δ soln H ° vs. Δ soln G ° con pendiente negativa desde etanol puro hasta 0.1 en fracción de masa de etanol y positivo más allá de esta composición hasta acetato de etilo puro a la temperatura media, 302.6 K. En consecuencia , el mecanismo impulsor para la solubilidad de benzoína en las mezclas ricas en etanol fue la entropía y para las mezclas ricas en acetato de etilo fue la entalpía.
publishDate 2019
dc.date.accessioned.none.fl_str_mv 2019-12-11T13:41:11Z
dc.date.available.none.fl_str_mv 2019-12-11T13:41:11Z
dc.date.issued.none.fl_str_mv 2019
dc.type.none.fl_str_mv Artículo
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dc.identifier.issn.spa.fl_str_mv 1816949X
dc.identifier.uri.spa.fl_str_mv 10.36478/jeasci.2019.4951.4960
dc.identifier.uri.none.fl_str_mv https://hdl.handle.net/20.500.12494/15543
dc.identifier.bibliographicCitation.spa.fl_str_mv Alan Ernesto Garrido Romero, Jorge Luis Aroca Trujillo, Ruthber Rodriguez Serrezuela, Diego Ivan Caviedes Rubio and Daniel Ricardo Delgado, 2019. Thermodynamic Study of the Solubility of Benzoin in Ethyl Acetate (1)+Ethanol (2) Mixtures. Journal of Engineering and Applied Sciences, 14: 4951-4960.
identifier_str_mv 1816949X
10.36478/jeasci.2019.4951.4960
Alan Ernesto Garrido Romero, Jorge Luis Aroca Trujillo, Ruthber Rodriguez Serrezuela, Diego Ivan Caviedes Rubio and Daniel Ricardo Delgado, 2019. Thermodynamic Study of the Solubility of Benzoin in Ethyl Acetate (1)+Ethanol (2) Mixtures. Journal of Engineering and Applied Sciences, 14: 4951-4960.
url https://hdl.handle.net/20.500.12494/15543
dc.relation.isversionof.spa.fl_str_mv http://medwelljournals.com/abstract/?doi=jeasci.2019.4951.4960
dc.relation.ispartofjournal.spa.fl_str_mv Journal of Engineering and Applied Sciences
dc.relation.references.spa.fl_str_mv Benavides, L.C.L., L.A.C. Pinilla, J.S.G. Lopez and R.R. Serrezuela, 2018. Electrogenic biodegradation study of the carbofuran insecticide in soil. Intl. J. Appl. Eng. Res., 13: 1776-1783.
Cardenas, Z.J., D.M. Jimenez and F. Martinez, 2015. Solubility and solution thermodynamics of meloxicam in polyethylene glycol 400+ water mixtures. J. Mol. Liq., 211: 233-238.
Cardenas, Z.J., D.M. Jimenez, D.R. Delgado, O.A. Almanza and A. Jouyban et al., 2017. Solubility and preferential solvation of some N-alkyl-parabens in methanol+ water mixtures at 298.15 K. J. Chem. Thermodyn., 108: 26-37.
Carl, G.F. and M.L. Smith, 1992. Phenytoin‐folate interactions: Differing effects of the sodium salt and the free acid of phenytoin. Epilepsia, 33: 372-375.
Carvajal, R.J.H., R.R. Serrezuela, J.A.Q. Lopez and K.L.R. Perdomo, 2016. LQR hybrid approach control of a robotic arm two degrees of freedom. Intl. J. Appl. Eng. Res., 11: 9221-9228.
Connors, K.A., 2002. Thermodynamics of Pharmaceutical Systems: An Introduction for Students of Pharmacy. Wiley, Hoboken, New Jersey, USA., ISBN:9780471202417, Pages: 344.
Cristancho, D.M., A. Jouyban and F. Martinez, 2016. Solubility, solution thermodynamics and preferential solvation of piroxicam in ethyl acetate+ ethanol mixtures. J. Mol. Liq., 221: 72-81.
Delgado, D.R., A.R. Holguin and F. Martinez, 2012. Solution thermodynamics of triclosan and triclocarban in some volatile organic solvents. Vitae, 19: 79-92.
Delgado, D.R., A.R. Holguin, O.A. Almanza, F. Martinez and Y. Marcus, 2011. Solubility and preferential solvation of meloxicam in ethanol+ water mixtures. Fluid Phase Equilib., 305: 88-95.
Gantiva, M. and F. Martinez, 2010. Thermodynamic analysis of the solubility of ketoprofen in some propylene glycol+ water cosolvent mixtures. Fluid Phase Equilib., 293: 242-250.
Jouyban, A., 2009. Handbook of Solubility Data for Pharmaceuticals. CRC Press, Boca Raton, Florida, USA., ISBN:9781439804889, Pages: 552.
Kristl, A. and G. Vesnaver, 1995. Thermodynamic investigation of the effect of octanol-water mutual miscibility on the partitioning and solubility of some guanine derivatives. J. Chem. Soc. Faraday Trans., 91: 995-998.
Krug, R.R., W.G. Hunter and R.A. Grieger, 1976. Enthalpy-entropy compensation: 2. Separation of the chemical from the statistical effect. J. Phys. Chem., 80: 2341-2351.
Letcher, T.M., 2007. Thermodynamics, Solubility and Environmental Issues. Elsevier, Amsterdam, Netherlands, ISBN:9780080481036, Pages: 492.
Losada, V.A.R., E.P. Bonilla, L.A.C. Pinilla and R.R. Serrezuela, 2018. Removal of chromium in wastewater from tanneries applying bioremediation with algae, orange peels and citrus pectin. Contemp. Eng. Sci., 11: 433-449.
Mahmoodi, N.O. and S. Emadi, 2004. One-pot synthesis of phenytoin analogs. Russ. J. Org. Chem., 40: 377-382.
Martinez, F., M.A. Pena and P. Bustamante, 2011. Thermodynamic analysis and enthalpy-entropy compensation for the solubility of indomethacin in aqueous and non-aqueous mixtures. Fluid Phase Equilib., 308: 98-106.
Montiel, J.J.G., R.R. Serrezuela and E.A. Aranda, 2017. Applied mathematics and demonstrations to the theory of optimal filters. Global J. Pure Appl. Mathe., 13: 475-492.
Pedraza, N.A.P., J.I.P. Montealegre and R.R. Serrezuela, 2018. Feasibility analysis for creating a metrology laboratory serving the Agribusiness and Hydrocarbons in the Department of Huila, Colombia. Intl. J. Appl. Eng. Res., 13: 3373-3378.
Pena, M.A., B. Escalera, A. Reillo, A.B. Sanchez and P. Bustamante, 2009. Thermodynamics of cosolvent action: Phenacetin, salicylic acid and probenecid. J. Pharm. Sci., 98: 1129-1135.
Perdomo, E.G., M.A.T. Cardozo, C.C. Perdomo and R.R. Serrezuela, 2017. A revieew of the user based web design: Usability and information architecture. Intl. J. Appl. Eng. Res., 12: 11685-11690.
Perlovich, G.L., N.N. Strakhova, V.P. Kazachenko, T.V. Volkova and V.V. Tkachev et al., 2008. Sulfonamides as a subject to study molecular interactions in crystals and solutions: Sublimation, solubility, solvation, distribution and crystal structure. Intl. J. Pharm., 349: 300-313.
Ramos, A.M.N., J.L.A. Trujillo, R.R. Serrezuela and J.B.R. Zarta, 2018. A Review of the Hotel Sector in the City of Neiva and the Improvement of its Competitiveness through Quality Management Systems. In: Advanced Engineering Research and Applications, Ajaykumar, B.S. and D. Sarkar (Eds.). Research India Publication, Nueva Deli, India, pp: 439-452.
Ruidiaz, M.A., D.R. Delgado, F. Martinez and Y. Marcus, 2010. Solubility and preferential solvation of indomethacin in 1, 4-dioxane+ water solvent mixtures. Fluid Phase Equilibria, 299: 259-265.
Sanchez, N.C., A.L.P. Salazar, A.M.N. Ramos, Y.M. Calderon and R.R. Serrezuela, 2018. Optimization of the Paddy rice husking process, increasing the useful life of the rollers in Florhuila plant Campoalegre mills. Intl. J. Appl. Eng. Res., 13: 3343-3349.
Serrezuela, R.R. and A.F.C. Chavarro, 2016. Multivariable control alternatives for the prototype tower distillation and evaporation plant. Intl. J. Appl. Eng. Res., 11: 6039-6043.
Serrezuela, R.R., A.F. Chavarro, M.A.T. Cardozo, A.G. Rey and C.A. Cabrera, 2017. Audio signals processing with digital filters implementation using MyDSP. J. Eng. Appl. Sci., 12: 5-10.
Serrezuela, R.R., A.F.C. Chavarro, M.A.T. Cardozo and J.B.R. Zarta, 2016. An optimal control based approach to dynamics autonomous vehicle. Intl. J. Appl. Eng. Res., 11: 8841-8847.
Serrezuela, R.R., A.F.C. Chavarro, M.A.T. Cardozo, A.L. Toquica and L.F.O. Martinez, 2017. Kinematic modelling of a robotic arm manipulator using matlab. J. Eng. Appl. Sci., 12: 2037-2045.
Serrezuela, R.R., J.A. Trujillo, A.N. Ramos and J.R. Zarta, 2018. Applications Alternatives of Multivariable Control in the Tower Distillation and Evaporation Plant. In: Advanced Engineering Research and Applications, Ajaykumar, B.S. and D. Sarkar (Eds.). Research India Publication, Delhi, India, pp: 452-465.
Serrezuela, R.R., M.A.T. Cardozo, D.L. Ardila and C.A.C. Perdomo, 2017. Design of a gas sensor based on the concept of digital interconnection IoT for the emergency broadcast system. J. Eng. Appl. Sci., 12: 6352-6356.
Trujillo, J.A., R.R. Serrezuela, J.R. Zarta and A.N. Ramos, 2018. Direct and Inverse Kinematics of a Manipulator Robot of Five Degrees of Freedom Implemented in Embedded System-CompactRIO. In: Advanced Engineering Research and Applications, Ajaykumar, B.S. and D. Sarkar (Eds.). Research India Publication, Delhi, India, pp: 405-419.
Trujillo, J.L.A., A. Perez-Ruiz and R. Rodriguez Serrezuela, 2017. Generation and control of basic geometric trajectories for a robot manipulator using compact RIO®. J. Rob., 2017: 1-11.
Ueyama, N., N. Yoshinaga, T.A. Okamura, H. Zaima and A. Nakamura, 1991. O-atom transfer biomimetic oxidation of benzoin in the presence of monooxomolybdenum (IV) thiolate complexes. J. Mol. Catal., 64: 247-256.
Yang, Y., W. Tang, S. Liu, D. Han and Y. Liu et al., 2017. Solubility of benzoin in three binary solvent mixtures and investigation of intermolecular interactions by molecular dynamic simulation. J. Mol. Liq., 243: 472-483.
Yang, Y., W. Tang, X. Li, D. Han and Y. Liu et al., 2017. Solubility of benzoin in Six Monosolvents and in some binary solvent mixtures at Various Temperatures. J. Chem. Eng. Data, 62: 3071-3083.
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spelling Garrido Romero, Alan ErnestoAroca Trujillo, Jorge LuisRodriguez Serrezuela, RuthberCaviedes Rubio, Diego IvánDelgado, Daniel RicardoVol. 142019-12-11T13:41:11Z2019-12-11T13:41:11Z20191816949X10.36478/jeasci.2019.4951.4960https://hdl.handle.net/20.500.12494/15543Alan Ernesto Garrido Romero, Jorge Luis Aroca Trujillo, Ruthber Rodriguez Serrezuela, Diego Ivan Caviedes Rubio and Daniel Ricardo Delgado, 2019. Thermodynamic Study of the Solubility of Benzoin in Ethyl Acetate (1)+Ethanol (2) Mixtures. Journal of Engineering and Applied Sciences, 14: 4951-4960.Las solubilidades en equilibrio de benzoína (3) en mezclas de acetato de etilo + etanol se determinaron a varias temperaturas de 283.15-323.15 K. La energía de Gibbs, la entalpía y la entropía de la solución y de la mezcla se obtuvieron de estos datos de solubilidad. La solubilidad fue máxima en la mezcla con w = 0,90 y muy baja en 1 etanol puro a todas las temperaturas estudiadas. Se obtuvo un gráfico no lineal de Δ soln H ° vs. Δ soln G ° con pendiente negativa desde etanol puro hasta 0.1 en fracción de masa de etanol y positivo más allá de esta composición hasta acetato de etilo puro a la temperatura media, 302.6 K. En consecuencia , el mecanismo impulsor para la solubilidad de benzoína en las mezclas ricas en etanol fue la entropía y para las mezclas ricas en acetato de etilo fue la entalpía.The equilibrium solubilities of benzoin (3) in ethyl acetate+ethanol mixtures were determined at several temperatures from 283.15-323.15 K. The Gibbs energy, enthalpy and entropy of solution and of mixing were obtained from these solubility data. The solubility was maximal in the mixture with w = 0.90 and very low in pure 1 ethanol at all the temperatures studied. A non-linear plot of Δsoln H° vs. Δsoln G° with negative slope from pure ethanol up to 0.1 in mass fraction of ethanol and positive beyond this composition up pure ethyl acetate was obtained at the mean temperature, 302.6 K. Accordingly, the driving mechanism for benzoin solubility in the ethanol-rich mixtures was the entropy and for the ethyl acetate-rich mixtures it was the enthalpy.http://scienti.colciencias.gov.co:8081/cvlac/visualizador/generarCurriculoCv.do?cod_rh=0001402116https://orcid.org/0000-0002-4835-9739https://scienti.colciencias.gov.co/gruplac/jsp/visualiza/visualizagr.jsp?nro=00000000004151danielr.delgado@campusucc.edu.cohttps://scholar.google.com/citations?hl=es&user=OW0mejcAAAAJ&view_op=list_works4951-4960Universidad Cooperativa de Colombia, Facultad de Ingenierías, Ingeniería Industrial, NeivaMedwell PublishingIngeniería IndustrialNeivahttp://medwelljournals.com/abstract/?doi=jeasci.2019.4951.4960Journal of Engineering and Applied SciencesBenavides, L.C.L., L.A.C. Pinilla, J.S.G. Lopez and R.R. Serrezuela, 2018. Electrogenic biodegradation study of the carbofuran insecticide in soil. Intl. J. Appl. Eng. Res., 13: 1776-1783.Cardenas, Z.J., D.M. Jimenez and F. Martinez, 2015. Solubility and solution thermodynamics of meloxicam in polyethylene glycol 400+ water mixtures. J. Mol. Liq., 211: 233-238.Cardenas, Z.J., D.M. Jimenez, D.R. Delgado, O.A. Almanza and A. Jouyban et al., 2017. Solubility and preferential solvation of some N-alkyl-parabens in methanol+ water mixtures at 298.15 K. J. Chem. Thermodyn., 108: 26-37.Carl, G.F. and M.L. Smith, 1992. Phenytoin‐folate interactions: Differing effects of the sodium salt and the free acid of phenytoin. Epilepsia, 33: 372-375.Carvajal, R.J.H., R.R. Serrezuela, J.A.Q. Lopez and K.L.R. Perdomo, 2016. LQR hybrid approach control of a robotic arm two degrees of freedom. Intl. J. Appl. Eng. Res., 11: 9221-9228.Connors, K.A., 2002. Thermodynamics of Pharmaceutical Systems: An Introduction for Students of Pharmacy. Wiley, Hoboken, New Jersey, USA., ISBN:9780471202417, Pages: 344.Cristancho, D.M., A. Jouyban and F. Martinez, 2016. Solubility, solution thermodynamics and preferential solvation of piroxicam in ethyl acetate+ ethanol mixtures. J. Mol. Liq., 221: 72-81.Delgado, D.R., A.R. Holguin and F. Martinez, 2012. Solution thermodynamics of triclosan and triclocarban in some volatile organic solvents. Vitae, 19: 79-92.Delgado, D.R., A.R. Holguin, O.A. Almanza, F. Martinez and Y. Marcus, 2011. Solubility and preferential solvation of meloxicam in ethanol+ water mixtures. Fluid Phase Equilib., 305: 88-95.Gantiva, M. and F. Martinez, 2010. Thermodynamic analysis of the solubility of ketoprofen in some propylene glycol+ water cosolvent mixtures. Fluid Phase Equilib., 293: 242-250.Jouyban, A., 2009. Handbook of Solubility Data for Pharmaceuticals. CRC Press, Boca Raton, Florida, USA., ISBN:9781439804889, Pages: 552.Kristl, A. and G. Vesnaver, 1995. Thermodynamic investigation of the effect of octanol-water mutual miscibility on the partitioning and solubility of some guanine derivatives. J. Chem. Soc. Faraday Trans., 91: 995-998.Krug, R.R., W.G. Hunter and R.A. Grieger, 1976. Enthalpy-entropy compensation: 2. Separation of the chemical from the statistical effect. J. Phys. Chem., 80: 2341-2351.Letcher, T.M., 2007. Thermodynamics, Solubility and Environmental Issues. Elsevier, Amsterdam, Netherlands, ISBN:9780080481036, Pages: 492.Losada, V.A.R., E.P. Bonilla, L.A.C. Pinilla and R.R. Serrezuela, 2018. Removal of chromium in wastewater from tanneries applying bioremediation with algae, orange peels and citrus pectin. Contemp. Eng. Sci., 11: 433-449.Mahmoodi, N.O. and S. Emadi, 2004. One-pot synthesis of phenytoin analogs. Russ. J. Org. Chem., 40: 377-382.Martinez, F., M.A. Pena and P. Bustamante, 2011. Thermodynamic analysis and enthalpy-entropy compensation for the solubility of indomethacin in aqueous and non-aqueous mixtures. Fluid Phase Equilib., 308: 98-106.Montiel, J.J.G., R.R. Serrezuela and E.A. Aranda, 2017. Applied mathematics and demonstrations to the theory of optimal filters. Global J. Pure Appl. Mathe., 13: 475-492.Pedraza, N.A.P., J.I.P. Montealegre and R.R. Serrezuela, 2018. Feasibility analysis for creating a metrology laboratory serving the Agribusiness and Hydrocarbons in the Department of Huila, Colombia. Intl. J. Appl. Eng. Res., 13: 3373-3378.Pena, M.A., B. Escalera, A. Reillo, A.B. Sanchez and P. Bustamante, 2009. Thermodynamics of cosolvent action: Phenacetin, salicylic acid and probenecid. J. Pharm. Sci., 98: 1129-1135.Perdomo, E.G., M.A.T. Cardozo, C.C. Perdomo and R.R. Serrezuela, 2017. A revieew of the user based web design: Usability and information architecture. Intl. J. Appl. Eng. Res., 12: 11685-11690.Perlovich, G.L., N.N. Strakhova, V.P. Kazachenko, T.V. Volkova and V.V. Tkachev et al., 2008. Sulfonamides as a subject to study molecular interactions in crystals and solutions: Sublimation, solubility, solvation, distribution and crystal structure. Intl. J. Pharm., 349: 300-313.Ramos, A.M.N., J.L.A. Trujillo, R.R. Serrezuela and J.B.R. Zarta, 2018. A Review of the Hotel Sector in the City of Neiva and the Improvement of its Competitiveness through Quality Management Systems. In: Advanced Engineering Research and Applications, Ajaykumar, B.S. and D. Sarkar (Eds.). Research India Publication, Nueva Deli, India, pp: 439-452.Ruidiaz, M.A., D.R. Delgado, F. Martinez and Y. Marcus, 2010. Solubility and preferential solvation of indomethacin in 1, 4-dioxane+ water solvent mixtures. Fluid Phase Equilibria, 299: 259-265.Sanchez, N.C., A.L.P. Salazar, A.M.N. Ramos, Y.M. Calderon and R.R. Serrezuela, 2018. Optimization of the Paddy rice husking process, increasing the useful life of the rollers in Florhuila plant Campoalegre mills. Intl. J. Appl. Eng. Res., 13: 3343-3349.Serrezuela, R.R. and A.F.C. Chavarro, 2016. Multivariable control alternatives for the prototype tower distillation and evaporation plant. Intl. J. Appl. Eng. Res., 11: 6039-6043.Serrezuela, R.R., A.F. Chavarro, M.A.T. Cardozo, A.G. Rey and C.A. Cabrera, 2017. Audio signals processing with digital filters implementation using MyDSP. J. Eng. Appl. Sci., 12: 5-10.Serrezuela, R.R., A.F.C. Chavarro, M.A.T. Cardozo and J.B.R. Zarta, 2016. An optimal control based approach to dynamics autonomous vehicle. Intl. J. Appl. Eng. Res., 11: 8841-8847.Serrezuela, R.R., A.F.C. Chavarro, M.A.T. Cardozo, A.L. Toquica and L.F.O. Martinez, 2017. Kinematic modelling of a robotic arm manipulator using matlab. J. Eng. Appl. Sci., 12: 2037-2045.Serrezuela, R.R., J.A. Trujillo, A.N. Ramos and J.R. Zarta, 2018. 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