AP2.

3
P 4.5
P 4.6
P 4.8

P 4.12

P 4.13
 MG ( s ) + kUG ( s ) G1 ( s ) + kG2 ( s )
(b)T ( s ) = = ;
1 + kGH ( s ) G3 ( s ) + kG4 ( s )
The closed-loop transfer function is:
k (UG ( s) − MG 2 H ( s))
S kT = ;
( MG ( s ) + kUG ( s))(1 + kGH ( s))
P 4.15

The closed-loop transfer function for the disturbance to the output is

Y (s) G( s)
= ;
D( s ) 1 + KG ( s)
With R=0. The steady-stat deviation is
G(s) 1 G(s) 1
yss = lim s( ) = = ;
s→0 1 + KG ( s ) s 1 + KG (0) 1 + K
So, with K=5, we have y ss = 1/6, and with K=25 we have y ss = 1/26.
P 4.17
AP 4.4