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The document contains problems about computing transfer functions and steady-state errors for various closed-loop control systems. It includes 4 problems analyzing control systems with proportional controllers and computing steady-state error given step inputs for position, reference signal and load disturbances.

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Aliaa Tarek
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35 views

Sheet 3

The document contains problems about computing transfer functions and steady-state errors for various closed-loop control systems. It includes 4 problems analyzing control systems with proportional controllers and computing steady-state error given step inputs for position, reference signal and load disturbances.

Uploaded by

Aliaa Tarek
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Electrical Engineering Department

3rd Year, 2nd Semester


Automatic Control
Sheet 3

Aswan University Faculty of Engineering

1. Consider the closed-loop system in the following figure, where


𝑘 14
𝐺(𝑠) = 𝑎𝑛𝑑 𝐻(𝑠) =
𝑠 + 10 𝑠 2 + 5𝑠 + 6
(a) Compute the transfer function T(s) = Y(s)/R(s).
(b) Define the tracking error to be E(s) = R(s) - Y(s). Compute E(s) and determine
the steady-state tracking error due to a unit step input, that is, Let R(s) = 1/s.
(c) Compute the transfer function Y(s)/Td(s) and determine the steady-state error of
the output due to a unit step disturbance input, that is, let Td(s) = 1/s.

2. In the following figure, consider the closed-loop system with measurement noise
N(s), where
100 𝑘2
𝐺(𝑠) = , 𝐺𝑐 (𝑠) = 𝑘1 , 𝑎𝑛𝑑 𝐻(𝑠) =
𝑠 + 100 𝑠+5
In the following analysis the tracking error is defined to be 𝐸(𝑠) = 𝑅(𝑠) − 𝑌(𝑠)
(a) Compute the transfer function T(s) = Y(s)/R(s) and determine the steady-state
tracking error due to a unit step response, that is, let R(s) = l/s and assume that N(s)
= 0.
Electrical Engineering Department
3rd Year, 2nd Semester
Automatic Control
Sheet 3

Aswan University Faculty of Engineering

(b) Compute the transfer function Y(s)/N(s) and determine the steady-state
tracking error due to a unit step disturbance response, that is, let N(s) = l/s and
assume that R(s) = 0. Remember, in this case, the desired output is zero.

3. The shoulder joint of a robotic arm uses a DC motor with armature control and a
set of gears on the output shaft. The model of the system is shown in the following
figure with a disturbance torque Td(s) which represents the effect of the load.
Determine the steady-state error when the desired angle input is a step so that
𝜃d(s) = A/s, Gc(s) = K, and the disturbance input is zero. When 𝜃d(s) = 0 and the
load effect is Td(s) = M/s, determine the steady-state error when (a) Gc(s) = K and
(b) Gc(s) = K/s.
Electrical Engineering Department
3rd Year, 2nd Semester
Automatic Control
Sheet 3

Aswan University Faculty of Engineering

4. A machine tool is designed to follow a desired path so that


𝑟(𝑡) = (1 − 𝑡)𝑢(𝑡)
where u(t) is the unit step function. The machine tool control system is shown
below.
(a) Determine the steady-state error when r(t) is the desired path as given and
Td(s) = 0.
(b) Plot the error e(t) for the desired path for part (a) for 0 < t <= 10 seconds.
(c) If the desired input is r(t) = 0, find the steady-state error when Td(s) = 1/s.
(d) Plot the error e(t) for part (c) for 0 < t <= 10 seconds.

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