CHAPTER Feedback Control System Characteristics Exercises E4.1 (a) The system sensitivity to 7 is given by SES In this case, we have Se= TyEm®) 714 Py Ss 101 and sea where 7 = 3. Therefore, oo r= 354101 (b) The closed-loop transfer function is Gs) _ 100 00/101 0.99 1+GH(s) 384101” stl tes t1 Ts T where the time-constant 7: = 3/101 = 0.0297 second. E4.2 (a) The system sensitivity to Ko is Or Ky 1 OKT ~ 1+ RK Sky =(b) The transfer function from D(s) to Vo(s) is Ka pee a ceri (s) (c) We would select Ky > 1, so that the transfer function from D(s) to V,(s) is. small 4.3 (a) The tracking error, E(s) = R(s) — ¥(s), is given by R(s) Als PO) = Tea) ~ TRIG Ta?” ‘The steady-state error (computed using the final value theorem) is ee a |_ia se = tig 3E(8) = ling | | = TEKS (b) A disturbance would be the wind shaking the robot arm. E44 (a) The tracking error, B(s) = R(s) ~ ¥(s), is given by __ Re) 1+ KG) Bs) ‘The steady-state position error is computed (using the final value theorem) to be e = ty s [4] in | we eo" [T+ KG(s)) 0 | 1+ (>) The ramp input of 0.1 m/sec is given by: on Ris) = ‘Then, using the final value theorem, we have O./s? oO. V+ geet] SOLS + rst orWe desire e4, < 0.0001 m, so 0.01 0.0001 100 E4.5 The light bounces off the surface of the slide and into a detector. If the light fails to hit the detector dead center, the unbalanced electric signal causes the motor to adjust the position of the light source, and simulta- neously the lens. E4,6 The closed-loop transfer function is 5(s+2) Ms=—S* . = Fy ibs+ 10 ‘The step response is shown in Figure E4.6. step Response FIGURE E4.6 Step response FA4.7 (a) The closed-loop transfer function is KK, 18) = SRK + Ke) *(b) The sensitivities are gp OUT at Kis K OK/K 3+ Ki(K + Ka) and Sh = OK 6+ K(k + Ko) (c) The transfer function from D(s) to ¥(s) is Y(s) _ cal Dis) s+ Ki(K2 + K) =KY(s) (when R(s) = 0), we have K TF R(t RO ‘Therefore, since B(s Es) = ) and exe = lity sE(8) (a) With K = Ky =1, we have is) 2 Ki se ean ‘Then, 7 Kot @) = SpaKis and 64 a), where u(?) is the unit step fimetion. Therefore, select Ky = 10 for the fastest response. E4.8 The closed-loop transfer function is Te) = 41.67K(s +50)(s + 500) ) = (R00) = + 500)(s2 + 16 75+ 83.3) + 2OSAHR (5 + 50) The steady-state error is determined to be 7.99 : Ts) = 1-10) = a5 as = lim sE(s) = linn #(1-T(o))‘The plots of the steady-state error versus K’ and the percent overshoot P.O. versus K are shown in Figure E4.8 for 40 < K < 400. os 016 ou on o 08 sendy sate eror percent overshoot (%) 006) 004 00 FIGURE £4.8 {a) Steady-state error. (b) Percent overshoot 4.9 (a) ‘The closed-loop transfer funetion is G(s) K(s? +558 +6) “T+G(s)\H(s) 53 + 15s? + 56s + 60+ 14K Y(s) — R(s) we obtain Gs) _ G(s) = H(s)) - +G() As) | Re) = Ty GH) = (15 — K)s? — (56 -5K)s — (60+8K) 1 + 15s? + 508+ 00-4 14K s ‘Then, using the final value theorem we find —(60+8K) Me Goa,(©) The transfer funetion from the distmbance Ty(s) to the output is 1 Tals) sh + 15s + 563 + 60, 1+ G(s)Als) * ‘The steady-state erzor Lo unit step disturbance is ¥(s T+ Tbs! + 503+ 60+ KM) Jim s¥ (6) = lim st + 868 +60 _ 1 _ 60 _ ci) ~ s0" s+ 15s? + 565+ 604+ 14K 8 60+ 14K (a) The sensitivity is Kal near hs OKT 1 (« 14.G(s)H( 1 OF GG)HOP 0) GGy 1+ G@)A®) E4.10 (a) The closed-loop transfer function is GAs)Gls) 100K (s+ 5) FOAs)\Gls\A le) — 3 + 105s + (500+ 100K) The steady-state tracking error is (s)G(s)(1— H(s)) — 4) Re) 1+ G-[s)G(s)H(s) (5K) 1 2 Ts) = and 5+ KG 5+ Ki Ky a2 (b) The transfer function from the noise distuzbance V(s) to the output Y{s) is (8)G(s) H(s) | (3) TF GA(s\G()H(9) ‘The steady-state error to a unit step N(s) = 1/s is I NOs). PR) = igs (0) The design trade-off would be to make KiK2 as large as possible to improve tracking performance while keeping Ky as small as possible to reject the noise.