Homework 3 Solution

Problem 1.

• Speed: 40 mph

• 1% grade change: 3 mph change

• 1throttle change: 7mph change

a)

Disturbances

3/7

u − yc l
7

b)

Disturbances

3/7

r x2 u − x1 yc l
10 7
−

Feedback

1
 c)

ycl = 7x1 (1)

3
x1 = u − w (2)
7

u = 10x2 (3)

x2 = r − ycl (4)

Substituting (4) in (3):

u = 10(r − ycl ) (5)

Substituting (5) in (2):

3
x1 = 10(r − ycl ) − w (6)
7

Substituting (6) in (1):

3
ycl = 7(10(r − ycl ) − w) (7)
7
70r − 3w
ycl = (8)
71

d)

70r 3w
 
e = r − ycl = r − − (9)
71 71

1 3
e= r+ w (10)
71 71

if w = 1 & r = 40,

2
 40 3 43
e= + = = 0.61 (11)
71 71 71

Problem 2.

• Principle of underlying physics

• Experimental methods

The second is more expensive because requires a prototype, time and uncertainty

with trial and error.

Problem 3.
Transfer function is a mathematical function relating the output response of a

system to its input. It describes the dynamics behaviour of a system.