Syukron Masruri (2113106047)

1 | P e n g e n d a l i a n O t o m a t i s

1. (5.9) Reduce the block diagram shown in figure P5.9 to a single transfer function,
I(s) =
C(s)
R(s)
_ . (section; 5.2)

Jawab :





*)
misal : 0
2(s)
+ 0
3(s)
= o
o
1 +0
1
. o
0
S(s)

0
6(s)
1 +0
6(s)

0
4(s)
o

R
(s)

0
7(s)

C
(s)





0
2(s)
+0
S(s)
0
S(s)

0
6(s)
1 +0
6(s)

0
1(s)

0
4(s)

R
(s)

0
7(s)

C
(s)

Syukron Masruri (2113106047)
2 | P e n g e n d a l i a n O t o m a t i s















Subsitusi G
I
(s)
=
c
b + 0
7
. c

I
(s)
=
(0
5
. o +0
4
)0
6
1 + 0
1
. o + 0
6
+ 0
1
. o. 0
6
+ 0
7
. (0
5
. o + 0
4
)0
6

I
(s)
=
(0
5
. 0
2
+ 0
5
. 0
3
+ 0
4
)0
6
1 + 0
1
. 0
2
+ 0
1
. 0
3
+ 0
1.
0
6
. 0
2
+ 0
1.
0
6
. 0
3
+ 0
6
+ 0
6
. 0
7
. 0
5
. (0
2
+ 0
3
) + 0
6
. 0
7
. 0
4

I
(s)
=
(0
5
. 0
2
+ 0
5
. 0
3
+0
4
)0
6
1 + 0
1
(0
2
+ 0
3
) + 0
6
. (1 + 0
1
. 0
2
+ 0
1
. 0
3
+ 0
7
. 0
5
. 0
2
+ 0
7
. 0
5
. 0
3
+ 0
7
. 0
4
)



o
1 +0
1
. o

0
6(s)
1 +0
6(s)

R
(s)

0
7(s)

C
(s)

0
S
+
0
4(s)
o

(0
S
. o +0
4
)0
6
1 +0
1
. o +0
6
+ 0
1
. o. 0
6

0
7(s)

C
(s)
R
(s)

misal : c
misal : b
c
b
,
1 +0
7
.
c
b
,

R
(s)

C
(s)

c
b +0
7
. c

R
(s)

C
s

Syukron Masruri (2113106047)
3 | P e n g e n d a l i a n O t o m a t i s

2. (6.31) Use the Routh Hurwitz criterion to find the range of K for which the system of figure
P6.6 is stable. (section: 6.4)
Jawab :
K. (s
2
+2s +2)
s
2
+2s +4 +K. (s
2
2s +2)
s
2
+2s +4

Ks
4
+2Ks
2
+4ks +8K
(K +1)s
2
+(2 2K)s +2K +4

K. (s
2
+2s +2)
1 +K. (s
2
+2s +2).
1
s
2
+2s +4

R(s)
R(s)
R(s)
C(s)
C(s)
C(s)

I(s) =
R(s)
C(s)
=
Ks
4
+2Ks
2
+4ks +8K
(K +1)s
2
+(2 2K)s +2K +4

Routh table
s
2
K +1 2K +4
s
1
2 2K u
s
0

K +1 2K +4
2 2K u

2 2K
=
4K
2
+4K +8K
2 2K

u
Asumsi :
System stabil memiliki closed loop transfer function dengan pole pada right half plane, semua
nilai s bernilai positif (+). Maka :
Syukron Masruri (2113106047)
4 | P e n g e n d a l i a n O t o m a t i s

s
2
> u K +1 > u ; moko K > 1 ....................... a
s
1
> u 2 2K > u ; moko K < 1
s
0
> u 2 2K > u ; moko K < 1
s
0
> u 2K +4 > u ; moko K > 2 ..................... b
Dari a & b, jika kita memasukkan nilai dengan batas b maka pada x
2
nilainya akan negative (-),
sehingga kita menggunakan nilai dengan batas a, yaitu > 1 ; sehingga nilai K adalah :
1 < K < 1
























Syukron Masruri (2113106047)
5 | P e n g e n d a l i a n O t o m a t i s

3. (7.32) Given the system in figure P7.9, find the following : (section: 7.3)
a. The closed-loop transfer function
b. The system type
c. The steady state error for an input of Su(t)
d. The steady state error for an input of Stu(t)
e. Discuss the validity of your answers to parts c and d
Jawab :
a. Closed loop transfer function
s
s
4
+s
S
+1

1
s
2
(s +S)

R(s) C(s)
0(s) =
s
s(s
6
+s
S
+Ss
4
+s
2
+Ss

R(s)
C(s)
1
s
6
+4s
S
+Ss
4
+s
2
+Ss +1

R(s) C(s)

b. Berdasarkan dari fungsi 0(s); maka system termasuk TIPE 1
0(s) =
s
s(s
6
+s
5
+Ss
4
+s
2
+Ss)

c. The steady state error for an input of Su(t)
Laplace dari Su(t)
S
s
,
, maka
c() =
S
1 + lim
s0
0(s)
=
S
1 +
1
u
,
=
S
1 +
=

Syukron Masruri (2113106047)
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