“Problems * Apnily Feed back control system has a feed forward transfer Funckion : 3 S(S+2) Gos) = pli ce uy Find We closed Loop transfer Funckion. @ find Ke rise lime, peak lime, setting Hme , and maximum Peak for aunt skep input. (3) Gel Ke sleady stale error for a unit ramp iwput- (4) Design a Conkle in order to gt amaximum peak of 40f, Lg= 3 sec: (6) Design a controller in order bo get a sett Ring Hme of 2sec- and steady shale error of 40% due ba parabolic input.# Solulion: 2 3 S (S+2) 4) nity Feedback = Hi=4 > © Gol= 3 a The —G6) __ su). . & 3 14+G6)HO) 4+ Tan"! (2) The clch eqs (4G) ) =0 (denominator of FF) e SS 4r1S43 50 > Comparing vit® 2"ordex polelype vo OS + anon Se Wirz 0 fm WneVS vodsec > =F ‘ bp = Tt > bps 2-224 sec a tee HO. TOM, ea sts sed Ww Gant 1-4 O ” Onen i : Fe oo =|bse u sec “21 oM 7 p= CYP [Mp =0-40%4 = 10-847.3 2) <= Ess\ = on o ramp ip 7 Et oe lege Bien 6609 MUS) = Nara Bats © \Esy= 2 = 66.66). so= > = 66 I (4) There is a condilion on Re Haxkimum peale (bransient Kespmse) 2 use PD ControMer & Gels) = ep lead - & The clcheq: \+ Gets): G6) + HGs) = 6 3 > 14+ (eps eat\e ay =0 > (6* + 2.6) +3(ep Kad) = Se Se (2 #Bka) S + Bkepze Com paring uth Kee a4 eden probe hype system: Sick 2H Wn $+ Wa =oSe Bkas 24Wn . Blep = Wr => 2 equalions » Aunknowns? lep keds Un > use We conditions - Hp= evi. 40]. => qa he) = -2-302 2 Ue 2-302 Yi-4> > Ps (2-302) (4) 2 {ws (2-aoef Y= (2-302) 2 Gfa0-5a & One 4 . . ae Pag cog === Wn = 2-255h radhec —> nour substiule in He First 2 equabins: & kp= Bf > kp = 4-695 S kd =(24Wn-2)/3 => led = 0-222] o& Khe suitable contrabler is 0 PO antreler crite akransfa Fonction: [Geta = 4.6% +O. 2228dee Ecs) « Us) note Yaak: \ed = CR =0-222 Cheosing 2 C= 400 MF => R= 2-222 k@ Go)(5) There are conditions on botk transient and sleady stale le] responses =» Use. PID Cmbrafle~ . Rl Gees) = lep + kas +t co The clch eg Us 14 Gels) * GO) # H@)=0 8 Aa), —B = d+ (kp + kaSs 3) * Oy ° D (S425) + B(kprkass 'E)=0 («.) ($242.57) + Bead + Bhp s+ ley =0 he S84 (24 ka) S74 Bleep Saker =o Comparing with the order prototype cich ef : (Grd) sra 24 Wh Se Wit) = 0 ce Shy (2mm dh) St (We r2MWMA) $+ KA=o os Zedkeg = BwWn+d —-C) - We ayidn A= Sep ——-(2) : AW = 3k ———+(8)> Bequakins, 6 unlenowsns &%, Une o> kp» led kz u > Ysing Conditions ¢ RA . tse 4 -= asec => wn=2\—7 64) 45 Ess | = +, leas dim Go). HO) Suro 7 kk Parabdic ile & Csge ae ot => Ka=do & lene dim & Kea s+ kep se les, 3 y- Bk = eu As : SS +42) ‘ 2 Ag oe 34. = 40 = |\q = 6-6662|—-(5) our, we pave 5 eguahions » 6unknowns > assume = 5%Wn to have insignis icant pofes x [x =10\— © &e pours solving Rese equalionsa « sing (4)4(6) — From eqs 2+ 3kq= 2ZWnrh ce 243kd= 24240 > v using (S)°(6) KW = Sky - From €4@) ¢ =) Wn={2 radlsec-—@) So 40 Un? = 20 = From 4 Bz nr 2MLanK=Skp 5 ysing (4). (26) % 24uo= ake olkp= 4a] oe The suitable controle has We Transfer Fmecktons 666% Evs) Uls) dom