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EE 351 Spring 2021 Homework 4 Solutions

1) The document discusses reducing a system to an equivalent unit feedback system by moving terms to get a forward path and feedback loop. 2) It then analyzes the reduced system, finding it is Type 1 and calculating the steady state errors for different inputs. 3) Another section finds the transfer function from command input to error signal using Mason's rule, and analyzes the requirements on the transfer functions for different types of systems.

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35 views

EE 351 Spring 2021 Homework 4 Solutions

1) The document discusses reducing a system to an equivalent unit feedback system by moving terms to get a forward path and feedback loop. 2) It then analyzes the reduced system, finding it is Type 1 and calculating the steady state errors for different inputs. 3) Another section finds the transfer function from command input to error signal using Mason's rule, and analyzes the requirements on the transfer functions for different types of systems.

Uploaded by

Kalen
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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EE 351 Homework 4 Solutions

4.
Reduce the system to an equivalent unit feedback system by first moving 1/s to the left past
1
the summing junction. This move creates a forward path consisting of a parallel pair (𝑠 + 1)
3
in cascade with a feedback loop consisting of 𝐺(𝑠) = 𝑠+4 and 𝐻(𝑠) = 2. Thus,

𝑠+1 3/(𝑠 + 4)
𝐺𝑒 (𝑠) = ( )( )
𝑠 1 + 24/(𝑠 + 4)

Hence the system is Type 1, and the steady-state errors are as follows:

Steady state error for 10𝑢(𝑡) = 0


10 10
Steady state error for 10𝑡𝑢(𝑡) = 𝐾 = 3/28 = 93.33
𝑣

Steady state error for 10𝑡 2 𝑢(𝑡) = ∞

14.

The transfer function from command input to error signal can be found using Mason’s rule or any
other method:

10
𝐸(𝑠) 1 − 𝑠(𝑠 + 2) 𝐺2 𝑠(𝑠 + 2) − 10𝐺2
= =
𝑅(𝑠) 1 + 10 𝐺 𝑠(𝑠 + 2) + 10𝐺1
𝑠(𝑠 + 2) 1

1
Letting R ( s )  and by the final value theorem:
s
G ( s)
ess  Lim sE( s)   Lim 2
s 0 s 0 G ( s )
1

a. If G1 is type 0, it is required that 𝐺2 (0) = 0.


b. If G1 is type 1, it is required that 𝐺2 (𝑠) must be type 0, or 𝐺2 (0) = 0.
c. If G1 is type 2, it is required that 𝐺2 (𝑠) must be type 0 or 1, or 𝐺2 (0) = 0.

24.
G(s) K(s+)
T(s) = = 2 . Hence, K+ = 2, K = n2 = (12+12) = 2.
1 + G(s) s +(K+) s+K
1 
Also, e(∞) = = = 0.1.Therefore,  = 0.1K= 0.2, K = 1.8, and  = 1.111.
Kv K
26.
a. For the inner loop:
1
s2(s+1) s
G1(s) = = 4 3
1 s +s +1
1+ 3
s (s+1)
1 1
Ge(s) = 2 G1(s) = 5 4 3
s (s+3) s(s +4s +3s +s+3)

Ge(s) 1
T(s) = =
1+Ge(s) s6+4s5+3s4+s2+3s+1

b. From Ge(s), system is Type 1.

c. Since system is Type 1, ess = 0


1 5
d. ; From Ge(s), Kv = lim sGe (s) = . Therefore, ess = = 15.
s 0 3 K v

e. Poles of T(s) = -3.0190, -1.3166, 0.3426 ± j0.7762, -0.3495. Therefore, system is unstable and

results of (c) and (d) are meaningless

37.
a. E(s) = R(s) - C(s). But, C(s) = [R(s) - C(s)H(s)]G1(s)G2(s) + D(s). Solving for C(s),

R(s)G1(s)G2(s) D(s)
C(s) = +
1 + G1(s)G2(s)H(s) 1 + G1(s)G2(s)H(s)
Substituting into E(s),

G1(s)G2(s)
E(s) = 1 -  R(s) - 1
D(s)
 1 + G1(s)G2(s)H(s) 1 + G1(s)G2(s)H(s)

1
b. For R(s) = D(s) = ,
s

lim G1(s)G2(s)
s0 1
e(∞) = lim sE(s) = 1 - -
1 + lim G1(s)G2(s)H(s) 1 + lim G1(s)G2(s)H(s)
s0
s0 s0
a. Zero error if G1(s) and/or G2(s) is Type 1. Also, H(s) is Type 0 with unity dc gain.
Solutions to Design Problems 7-3

46.
The force error is the actuating signal. The equivalent forward-path transfer function is
K1
Ge (s)  . The feedback is H(s)  De s  Ke . Using Eq. (7.72)
s(s  K1 K2 )
R(s)
Ea (s)  . Applying the final value theorem,
1  Ge (s)H (s)
 1
s 2 
ea _ ramp ()  lim s  K2
K1 (Des  Ke )  Ke  0.1
. Thus, K2 < 0.1Ke. Since the closed-loop system
s 0
1
s(s  K1 K2 )
is second-order with positive coefficients, the system is always stable.

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