error signal that is applied to the actuator.

system signal to the input signal through a sys

response measured in decibels.
h. Error signal
g. Complexity A
A measure
system of the
with a structure, intricateness,
measurement of the output or signal
behavior and
EXERCISES of a system that characterizes
a comparison with the desiredthe outputrelationships
to generate andan
interactions between various
error signal that is applied to the actuator. components.
E4.1 A digital audio system is designed to minimize
i. Closed-loop The parts, the subsystems, controls the arm [8, 9].that
or subassemblies Thecomprise
transfer function for the
h. Error signal A measure of the structure, intricateness, or behavior
effect of disturbancessystem as shown in Figure aE4.1. total As system. EXERCISES
process is
of a system that characterizes the relationshipsK and
an approximation, j.weLoss may of represent
gain G (An s) =attribute
K2 . of a system that components.
describes G ( sa) = tendency of.
interactions between various 2
(a)  Calculate the sensitivity of the system thedue to toE4.1 Afrom
digitaltheaudio system is( sdesigned
+ 5) to minimize the controls the arm [8,
Selección
K . (b)
de ejercicios
Calculate thei. effect
deofpreparación
Closed-loop the disturbance The 1er
system
parts,
noise
Examen departCONTROL
subsystems, or subassemblies– I-2022
equilibrium
that
condition
comprise
300 Chapter 2 4 Feedback Control
system
System Characteristics
when initially displaced. effect of disturbances as shown in Figure E4.1. As process is
Td ( s) on Vo ( s). (c) What value would you aselect total for system. an approximation, we of may represent G ( s) =of Kthe
2.
k. Open-loop A reduction in the(a) Calculateofthe
amplitude the expected
ratio thesteady-state
output error G
K1 to minimize the j.effect Lossofofthe gain disturbance? An attribute of a system that
for describes a tendency of
E. Mojica e. Disturbancesystem Thesignal
ratio
thesun
to the
of
system
the change (a) 
inputgripper
signal
in
Calculate
thethrough
system
the
a step sensitivity
command
atransfer
system, usually
function
Aof as thea system
functiondue of K.to
E4.2 A closed-loop system is used to track the measured to intodecibels.
departK2 .from
(b) Name the
(b) Calculate equilibrium
a possible the condition
effect
disturbance of the signal disturbance noise
for this system.
signal to thewhen change of a displaced.
initially process transfer function (or param-
obtain maximum power from a photovoltaic array. Td ( s) on Vo ( s). (c) What A value would you select for (a) Calculate the ex
eter) for a small incremental change.
Capítulo
The tracking 4 systemk.may Open-loop
be represented by unity in theAnswers:
A areduction Kamplitude
1 to minimize
(a)ofess the =ratio
the 1effect
+ of /25
K of
thethe output disturbance? gripper for a step c
feedback controlf. system Transientsystem
and Thesignal
response to the of input
a system as athrough
E4.2 signalA magnetic
function
closed-loop
of time. usually
a system
system, is used to track to theposition
sun to (b) Name a possible
response E4.4 A disk drive requires a motor
measured in decibels.
EXERCISES g. 100 aobtain maximum
read/write head power
oversignal from of
tracks a photovoltaic
data on a spinning array.
Answers: (a) ess =
Gc (Complexity
s)G ( s) = , A system with a measurement The tracking
disk, as
of the
shown
output
system
in Figure mayE4.4. be andrepresented
The motor byanda unity
head
τs + 1 a comparison with thefeedback desired output tosystem
generate an
may be control and
E4.1where A digitalτ = 3audio s nominally.
system is designed (a) Calculate toerror signal
the
minimize sen- that is applied
the to represented
controls the theactuator.
by the transfer function
arm [8, 9]. The transfer function for the E4.4 A magnetic disk d
sitivity
effect of this system
disturbances for
h. Errorassignal a small
shown in Figure change in τ .
E4.1. As (b) process is 100 a read/write head o
System Characteristics EXERCISES A measure of the structure, intricateness, GG ( s) =10
or behavior
c ((ss))G= ,, disk, as shown in F
Calculate
an approximation,the time constant we may of the closed-loop
represent s)system
ofGa (system = K2that . characterizes the relationships and K
τ s + 1
G ( s) =s (τ s + 12) . may be represented
response.
(a)  Calculate the sensitivity of the system interactionsdue to between where various
where ττcomponents.
= 0.001 s.
3 s nominally. (s + (a)5)Calculate thediffer-
sen-
The ratio of the change
E4.1 in the system transfer isfunction = arm [8, The controller
transfertakes the
KA
Answers:. digital
(b) S =audio
−
Calculate 3 s system
/ ( 3
the
i.function s +
Closed-loop 101
effect designed
) ;
of  τ the
c = to minimize
3/101 s
disturbance the
noise
The parts, subsystems,ence
controls the
sitivity of
or subassemblies
of the this system
9]. The
for
that comprise a small
function
change in
for the
τ . (b)
is actual and desired positions and gener-
2
to the change of a process
effect transfer
of disturbances as(or param-
shown in Figure E4.1. for As process G(
E4.3 TAd ( srobotic
) on ( s). and
Voarm (c)
system What
camera value could would be ayou
used
totalselect
to pick
system. Calculate
(a) an
ates Calculate the This
error. time constant
the error
expected ofsteady-state
is multipliedthe closed-loopby an error system
of the
amplifier
eter) for a small incremental
an change.
approximation, we may represent G ( s ) = K . K
K
fruit, to minimize
1 as shown in the effect of the disturbance? 2 response. G ( s ) = .
The response of a system(a)  Calculate
as j. Figure
the
a function Loss ofE4.3(a).
sensitivity
of time.gain of The camera is usedof a system
An attribute
the system due to K.gripper
(a)
thatWhat for aisstep
describes the command
steady-state
a tendency ofA 2as a function
position erroroffor K. where τ = 0.001 s.
E4.2toKclose
A. (b) the feedback
closed-loop system loop istoused
a microcomputer,
todisturbance
track the which
sun todepart from aAnswers:
(b) Name
step changeSa = −in
possible (3disturbance
3s /the s+ 101
desired( s )+ ) = 3/101 s
;  τ5input?
csignal for
(b) this system.
Calculate
2 Calculate the effect of the the system to
noise the equilibrium condition ence of the actual a
obtain
Td ( s) on maximum
Voof( sthe
). (c)power from
Whatsignal valueaand photovoltaic
would when array.
initially
you select E4.3T (s)A robotic arm and camera
for displaced. A could be used to pick ates an error. This e
A system with a measurement output dAnswers:
(a) Calculate (a) ethess =expected steady-state error of the
The
K tracking
to minimize system
k. the may of
Open-loop
effect bethe represented A
disturbance? by a unity
reduction in the fruit, as shown
amplitude of the in
ratioFigure1
of + the KE4.3(a).
/25
output The camera is used K. (a) What is the
a comparison with the 1 desired output to generate an
feedback control system and gripper for a step command A as a function of K.
system signal to the input E4.4 to close
signal A throughthe feedback
magnetic a system,
disk loop
driveusually to a microcomputer,
requires a motor to which
position a step change in t
error signal that is applied
E4.2 to the actuator.
A closed-loop system is used to track Amplifier the sun to (b) Name a possible disturbance signal for this system.
obtain maximum power from 100
a measured
photovoltaic in decibels.
array. + a read/write head over A tracks of data on a spinning
A measure of the structure, intricateness, )Gor
GVc ( s(s) ( s)behavior
+
= , T d (s)
The tracking system in may be represented by Ka1 unity Answers:
disk, as shown(a)
G(s)essin=Figure E4.4. Vo(s)The motor and head
of a system that characterizes
FIGURE E4.1 the relationships and τ s + 1 1 + K /25
+ may be represented by the transfer function
interactions between feedback
Digitalwherevarious
audio τ= control
3 s system
components. nominally. and-(a) Calculate the sen-
E4.4 A magnetic disk drive requires a motor Amplifier to position
+
system.
The parts, subsystems, sitivity of this systemthat
or subassemblies forcomprise
a small 100 change in τ . (b) a read/write headGover ( s ) = tracks+ 10of data on a spinning
,
EXERCISES
a total system. Calculate the time Gc (constant
s)G ( s) =of the closed-loop , system disk,E4.1 V
as shown in Figure sE4.4.
in (s)
(τ s +The 1) motor and head
K1 G(s)
response. τs + 1 FIGURE +
An attribute of a system that describes a tendency of Digital may be represented by the
where τ = 0.001 s. The controller takes the differ-
audio -
transfer function
where τ = 3 −s3snominally.
/(3sis+ 101)(a) Calculate
3/101 s the sen-
the systemE4.1 AAnswers:
to depart digital
from the audio=
Sequilibrium
system designed
condition ;  τ c to= minimize the controls
ence the armactual
[8, 9]. and Thedesiredtransferpositions function and for the
sitivity of this system for a small change in τ . (b) system. of the 10 gener-
effectAofrobotic
E4.3
when initially displaced. disturbances
arm and as camera
shown in couldFigure be E4.1.
used Aspick
to process is G ( s ) =
ates an error. This error is multiplied by an amplifier ,
Calculate the time constant of the closed-loop system K
s (τ s + 1)position error for
A reduction in thean amplitude
approximation,
fruit, as shownof theinwe Figure
ratio may represent
E4.3(a).
of the output ( s) = Kis2 .used
TheGcamera K. (a) What is G (the
s) =steady-state .
response. 2
(a)  Calculate
to
signal to the input signal close the
through the sensitivity
feedback loop of
to athe system
microcomputer, due to
which where τ = 0.001 s.
a step change in the desired The( s + controller
5) input? takes(b) the differ-
Calculate
Answers: S = a−system,
3s /(3s +usually 101);  τ c = 3/101 s
K2 . (b) Calculate the300effect of the disturbance noise
measuredM04_DORF2374_14_GE_C04.indd
in decibels. ence of the actual and desired positions and gener- 17/09/21 2:20 PM
E4.3
Td ( s)A onrobotic
Vo ( s). arm
(c) Whatand camera value would couldyou be select
used to forpick (a)Tdates
(s) an error. This error is multiplied by an amplifier
Calculate the expected steady-state error of the
K1 to fruit, as shown
minimize theineffect
Figure of E4.3(a).
the disturbance? The camera is used gripper(a)
K. for What
a stepiscommandthe steady-state A as a position function errorof K. for
to close the feedback loop to a microcomputer,
E4.2 A closed-loop system is used to track the sun to M04_DORF2374_14_GE_C04.indd 300 Amplifierwhich a
(b) Name step a change
possible in the
disturbance desired signal input?
for (b)
this Calculate
system.
+
obtain maximum power from a+ photovoltaic array. Td(s) (a) e G(s) A
Gripper V (s) E4.6 A feedback system
Vin(s) K1 Answers: ss = o
The tracking
FIGURE E4.1system may be represented by a unity + 1 + K /25 function given by
feedback
Digital audio control system and -
d to minimize the controls the arm [8, 9]. The transfer function for the Amplifier E4.4 A magnetic disk drive requires a motor to position
system. + T ( s) = 3
Figure E4.1. As process is 100
+ a read/write head over tracks of data on a spinning s +
Gc ( s)G Vin( s(s)
)= , K1 disk, as shown G(s)
in Figure E4.4. V
The (s) motor and head
ent G ( s) = K2 . FIGURE E4.1 τs K +1 +
oCamera Compute the sensitiv
G ( s) = - 2 . may be represented by the transfer function
e system due to Digital
whereaudio τ = 3 s nominally. ((a) s + Calculate
5) the sen- fer function to chang
disturbance noise system.
sitivity of this system for a small change in τ . (b) 10 p > 0. Compute the s
uld you select for Calculate the timethe constant of the closed-loop system G ( s) = , input as a function of t
(a) Calculate expected steady-state error of the s (τ s + 1)
turbance? response.
gripper for a step command A as a function of K. E4.7 In laser cutting, it is
where τ = 0.001 s. The controller takes the differ-
Answers:
(b) Name S =a −
track the sun toM04_DORF2374_14_GE_C04.indd 3s /(3300
possible s+ 101);  τ c =signal
disturbance 3/101 s for this system. to be2:20
placed
PM at an an
ence of the actual and desired positions and gener- 17/09/21
otovoltaic array. E4.3 A robotic arm and camera A could be used to pick so that the laser beam
Answers: (a) e = ates an error. This error is multiplied by an amplifier
ented by a unity fruit, as shown in ss Figure laser beam causes an
1 +E4.3(a).
K /25 The camera is used K. (a) What is the steady-state position error for
example of a steady-st
to close the feedback loop to a microcomputer, which a step change in the desired input? (b) Calculate
E4.4 A magnetic disk drive requires a motor to position gram of an autofocus
M04_DORF2374_14_GE_C04.indd 300 17/09/21 2:20 PM
a read/write head over tracks of data on a spinning Td (s) system works.
, (a)
disk, as shown in Figure E4.4. The motor and head E4.8 Four-wheel drive aut
lculate the sen- may be represented by the transfer function where winter road con
Amplifier Process
change in τ . (b) + to snow and ice. A fou
10 + +
osed-loop system (s)( s) =
VinG , K1 R(s) G(s) Vo(s)
G(s) Y(s) lock brakes uses a sen
FIGURE E4.1 s (τ s + 1) + Desired Gripper ing to maintain tractio
- -
Digital audio
where τ = 0.001 s. The controller takes the differ- gripper position Figure E4.8. Find the c
3/101 s system. ence of the actual and desired positions and gener- position tem as it attempts to m
be used to pick ates an error. This error is multiplied by an amplifier wheel. Determine the
(b)
he camera is used K. (a) What is the steady-state position error for
ocomputer, which a step change in the desired input? (b) Calculate FIGURE E4.3 Robot fruit picker. + 5(s +
R(s)
Td(s) s(s +
Desired -
position
Amplifier
M04_DORF2374_14_GE_C04.indd 300 17/09/21 2:20 PM
+ Controller
K1 G(s) Vo(s)
+ FIGURE E4.8 Four-whee
Sensor signal
E4.9 Submersibles with c
tential to revolutionize
 a Compute closed-loop Motor
Magnetic diskthe sensitivityR(s)
of the
Camera trans- E4.8E4.8
+ p, where
E(s) +
Four-wheel
Four-wheel
lustrated
Compute
drive
-the
in Figure
automobiles
drive automobiles
E4.9.
sensitivity
are popular
of the are Y(s) in regions
popular
closed-loop intrans-
regions
fer function toRead/write
changes in the parameter input where
where
K winter roadroad
winter 1conditions
conditions are are
often slippery
often
Actual slipperyduedue
Desired K (a) Determine
fer function the
to changes closed-loop transfer
in the parameter p, where function
p > 0. Compute head the Process
Process error to a unit step
steady-state to snow
1
to snowand ice. A
and A ssfour-wheel
four-wheel drive vehicle withwith anti-anti-
+ + depth - - )+= Y (ice.
p > T0.( sCompute s)/Rthe( )steady-state
. drive
errorvehicle
depth to a unit step
input as a function of the
R(s) R(s) parameter
G(s)G(s)
p. Y(s) Y(s) lock brakes
lock uses
brakes a
uses sensor
a to
sensor keep
to eacheach
keep
T wheelTwheel rotat-
rotat-
(b) Determine
input as a function theof sensitivity SK and
the parameter p. SK .
Desired
E4.7 Desired
In laser-cutting,
- it is Motor
important for the Gripper
focusingGripper
lens ing to
ing maintain
to maintaintraction.
traction.One such
One system
such
1 is
system shown
is shownin in
gripperbe placed at an angle perpendicular toposition
togripper theposition
laser,
302
E4.7 (c)
In Determine
Chapter
Figure E4.8.
Figure E4.8.
the steady-state
4FindFeedback
laser cutting,Find
K2important
theit the
is Control
closed-loop
closed-loop
error
for the
response
due
System to a distur-
of Characteristics
focusing
response this lens
sys-
of this sys-
bebance
totem ( s)an
Td at = angle
1/s. perpendicular to the laser,
FIGURE
position E4.4
position
so that Diskbeam
the laser drive can
control.
be focused. An unfocused tem as itplaced
attempts
as
Sensor it attemptsto maintain
to maintain a constant
a constantspeed speedof the
of the
(d)that
so Calculate
the laserthe response
beam can y (t ) forAn
be when
focused. a step input Disturbance
FIGURE
laser E4.9
beam causes an(b)elliptical
(b) yieldbeam shape, a visual wheel. Determine
wheel.
( s)Determine
= causes
1/s
the response
the response when ( sunfocused
R( s)R= )A=/ s.Aand
/ s.
the required
Depth control K in order to a steady-state error laserRbeam
K
when
an K = beam
elliptical K2 = a3 visual
2 andshape, Td(s)
example offor
a steady-state error. Draw the block dia-
of 0.1
system. mm a ramp input of 10 cm/s. 1 < K
example of1 a<steady-state
10. Select K 1 for Draw
error. the fastest response.
the block dia-
FIGUREgram
FIGURE ofE4.3
E4.3
Answers: aneRobot
autofocus
0;fruit
Robot system,
picker.
 K fruit and describe how the
picker. +Consider
+ an autofocus
ss = = 100
R(s)gram
E4.10
R(s) of +
5(s
R(s) + 3) control
the5(sfeedback
3)system, + Y(s)
and describe
system Y(s)
how
shown
E(s) the
+ -
system works. K1
E4.5 A unity feedback system the loopController
hasDesired
Desired transfer system works.
Process
in Figure  E4.10. +s(s
15)+Determine
s(sDesired
(a) 15) K theWheel speed
Wheel speed
steady-state
E4.8 function
Four-wheel drive automobiles(a) are popular in regions - - +
depthin terms of the-gain, K. (b)
+ position
position K(s + 50) E4.8 error for46.24
a step
Four-wheel driveinput
automobiles are popular in regions -
where winter roadR(s) conditions are often slippery due Determine the overshoot for Y(s)
the step response
s + 200 where
s + winter
2 16.7s + road
72.9 conditions are often slippery due
to snow and ice. A four-wheel Process drive10 K
vehicle with anti- forsnow40 ≤and K ice.≤ 400. (c)  Plot the overshoot andanti- the
L ( s) = Gc ( s)G ( s- )= . Controller
Controller to A four-wheel drive vehicle with
Y(s) lock brakes + uses a sensor to keep s ( each
s + b )wheel rotat- steady-state error versus K.
R(s) G(s) such system is Y(s) lock brakes uses a sensor to keep each wheel rotat-
Gripper ing to maintain
Determine traction. One
the relationship between the steady-state shown
Sensorin FIGURE FIGURE E4.8 E4.8 Four-wheel
Four-wheel drivedriveauto. auto. Sensor
System position
Characteristics Desired - Find the closed-loopSensor Sensor
signal Gripper
signal E4.11 ing Consider
FIGURE toE4.9maintain thetraction.
closed-loop One such system system
in Figure is shown E4.11, in
FIGUREFigure E4.8.
error E4.10
to a ramp input and the response
gain K of
and this
systemsys-
gripper position
425 E4.9Figure E4.8.
where Find the closed-loop response ofthethisthe sys-
tem
Feedback ascontrol
parameter it attempts
b. For what to maintainvalues of a constant
K and b can speed we the E4.9
ofguar- Depth control
Submersibles
Submersibles with with clear clear
plasticplastichulls hulls
havehave po- po- K
position Disturbance s + 425 tem
system.
tential as
tential
to itrevolutionize
attempts
to revolutionize to maintain a constant
underwater
underwater leisure. speed
leisure.One One of small
small the
wheel.
system. Determine the response
antee that the magnitude of the steady-state error to when R ( s ) = A / s . K the response when R(14
Td (s) (b)0.1?
wheel. G (Determine
submersible
submersible s) =vehicle vehicle hasand has ( s) = 2 system
aHdepth-control
a depth-control s) system
= Aas /.s.il-as il-
aMagnetic
rampdisk input Motor Motor
Magnetic diskis less than
Read/write input lustrated
lustrated s +
in Figure
in Figure 10
E4.9. E4.9. s + 5Controller
s+6 Process
+ Read/write input
- 5(s + 3) T (s)Y(s) Y(s) (a) (a) Determine
Determine the the closed-loop
closed-loop
+ transfer
transfer function
function
+ E(s) + FIGURE E4.3 Robot
R(s) head1fruitheadpicker. d ++ 5(s + 3) K(sY(s)+ 50) 46.24
d K1 s(s + 15) Actual Wheel speed R(s)
R(s) T ( sT )= ( s)Y=( sY )/R(s)
R(Gs(s(s
)c/s(s)
)R.+( s15)
). G(s)
Wheel s + 200speed
Y(s)
s 2
+ 16.7s + 72.9
-+ s Desired (b) (b) -- Determine
Determine the the - ST Sand
sensitivity
sensitivity T and T ST .
n - - depth
+ K1 K1 SK . K
+ Motor +Motor
position (c) (c) Determine
Determine the the steady-state
steady-state error error
duedue to ato a distur-
distur-
R(s) G(s) Y(s)
K bance bance Td ( T s)d = ( sH(s)
)1/=s. 1/s. Sensor
Controller FIGUREFIGURE E4.4 E4.4- DiskDisk drivedrive2 control.control. FIGURE E4.10
+
Controller (d) (d) Calculate
Calculate the the response response y (t+)y (fort ) for a step a 425
stepinput input
FIGURE
M04_DORF2374_14_GE_C04.indd
the the E4.8301
required
required
Sensor Four-wheel
K inKorder in H(s)
order drive
to yield auto.
to yield a steady-state
a steady-state error Feedback control
R ( s )
R =( s
error FIGURE E4.8 Four-wheel drive K )
1 /= s 1 / s when when K = 2=and 2 and K2 K = 3andand
=s 2+317/09/21 2:20 PM
nsor signal system. 1 < 1 < auto. 425
of of
0.1 0.1
mm mm
for afor ramp a rampinput inputof 10of 10
cm/s. Sensor
cm/s. signal K1 < K110. < 10. Select Select K1 K for1 for
the
N(s) the
fastest fastest response.
response.
E4.9 Submersibles
K with clear plastic hulls have the po-
Answers:
Answers: ss = ess0;= K0;=  K100 = 100 E4.9 Submersibles with clear plastic hulls have theshownpo-
tential toerevolutionize underwater leisure. One small E4.10 E4.10 Consider
Consider the the feedback feedback control
control system system shown
FIGURE E4.11 Closed-loop system with nonunity FIGURE tentialE4.12
in ure 
in Fig to
Figure  E4.10. Closed-loop
revolutionize
E4.10. (a) (a) system
underwater
Determine
Determine with
Td (s) the the nonunity
leisure. One small
steady-state
steady-state
Motor E4.5E4.5 A unity A unity
submersible feedbackfeedback
vehicle system
has system has has
a depth-control the the loop loop
system transfer
transferas il- +
feedback. feedback and measurement
submersible noise.
Controller
input function
function
lustrated Process in Figure E4.9. Motor errorerror
for for a step avehicle
step
input has
inputin aterms
depth-control
in termsof the of the system
gain, K. as
gain, K.il-(b)R(s)
(b) Gc(s
Magnetic disk Read/write lustrated intheFigure E4.9.
(a) Determine the closed-loop transfer function input Determine
Determine theovershootovershoot for for the the
step
+ transfer functionstep response
response -
K(s + 50) 46.24 10 K10 K (a)for Determine
(a) T Compute
( s) = L (Y s)L(=s(the R=(transfer
head
)s/)G )). G( s()sG
(ssG )= (function
s) Y(s)
= . ( s).   = Y ( s)/R ( s). R(s)
T for 40to+≤ a40unit
K≤≤K step≤ the
400. 400. (c) closed-loop
response, (c)  +
Plotthattheis,the
Plot overshoot R( s) =and
let overshoot 1/ sand andthe
the
s + 200 T ( s)   = Y s(2s)+/R (
16.7ss ) . + 72.9 c c s (
T s s
+ ( s
b )+ b T) T (
assume s
steady-state
steady-state ) = Y
that
error ( s )
N /
error
G(s)
R(
versus s()s )
= .
versus 0.
K. K. T
Y(s) H(s
(b) Determine the sensitivity SK and SK .
(b) Define
Determine
Determine the thethe tracking
relationship
relationship error
between to
between1be E ( s)   = R ( s)   − Y ( s) .
the the steady-state
steady-state (b) Compute
(b) -
Determine the thetransfersensitivity SK and
function Y ( s S/TKN. ( s) and
)
(c) Determine the steady-state error due to a distur- E4.11 E4.11 Consider the the
Consider theclosed-loop
closed-loop systemsystem in Figure E4.11,
1 in Figure
Motor (c) Determine steady-state
steady-state error due to aE4.11,
distur-
Sensor E ( s)   = Rerror
( s)  error
−to Y (asto
bance ).ramp
TCompute
ad ramp
( s)input /sE
= 1input ( s)and
.and and
the determine
the
gain gainK and Kthe and steady-
system system where
determine
where
the
H(s)
tracking error due
stateb.tracking
(d)parameter
parameter b.the For error
what dueofto
values atand
yK(of )unit
Kfor bstep
and input,
ab step
can we that
guar- bance T ( s ) = 1 / s .
to a unitd step disturbance response, that is, let
FIGURE E4.4 For
Calculate Disk what values
response
drive control. can we guar-
input
425 (d) N Calculate
( s) = 1/Ksthe K response y (tR ) ( for 14a0.14 step input
eady-state error antee anteeRis,( slet
that =R1the
that
)the /(ss) =
magnitude 1/s. of K
magnitude
when of=the
the 2 and steady-state
steady-state K2 =error 3 errorto to
and ( s(G
Gber, )sin
=( s=this
)=
and assume that
and and HK( sH (2s)and
) output
=
s) =
= 2K = 3. and
Remem-
.
s + 425 a (c)a ramp
the
ramp Compute
required
input input
is K the
less in
is lesstransfer
order
than than
0.1?to
1 < K1 < 10. Select K1 for the fastest response. function
yield
0.1? a Y ( s
steady-state )/ T d ( s ) and
error FIGURE R
E4.11 ) s 1+/scase,
s
Closed-loop
10 + 10when
the desired
system = with s 2 + is
s zero.
nonunity
5 +
s2 + 5 s
6 + 6 FIGURE E4.12 Closed
s.
of 0.1determine
mm for a ramp the steady-state
input of 10 cm/s. error of the output feedback. (c) If1 < theK 1 <is
goal 10.to Select
track the K1inputfor the while fastest
rejectingresponse. the feedback and measuremen
E4.10Answers: Consider
due to essa = the
unit 0;  feedback
Kstep 100 controlinput,
= disturbance system thatshownis, let measurement
E4.10 Consider the noise feedback (in other control words, systemwhile shown mini-
he loop transfer in Fig T ure ( s ) E4.10.
= 1 / s . (a) Determine the steady-state mizing ( s) on the
E4.5 error+A unity d feedback system has the loop transfer (a)inCompute
Fig ure  the E4.10.
the effect (a)ofDetermine
transfer Nfunction the
T (output),
s )steady-state
  = Y (how
s)/R ( s). to a unit step resp
R(s) (d) for a step
Compute Gc(s)
the input in terms
sensitivity S T . of the gain, K.
G(s) Y(s)(b) would you select the parameters K and K
function K error
T ( s)   = Y ( s)/R ( s). for a step input in terms of the 1 gain, K.2? (b) assume that N ( s
Determine the overshoot for
- Figure E4.12, consider the closed-loop system E4.13Determine the step response
K E4.12 for In 40 ≤ K ≤ 400. (c)  Plot the overshoot and the A closed-loop
(b) Define thethe tracking overshoot
system erroristofor be the
used Ein ( s)step Rresponse
( s)   − Y ( s). (b) Compute the tra
a  =high-speed
. 10 K
+ b) Y(s) with measurement
steady-state ( s)H(s)
Lerror =versus
Gnoise
c ( s) G
N( s()s)=, where .
K.
forY (40
E ( s)   = R ( s)  steel
− s).≤Compute
rolling Kmill ≤ 400. to E (c) 
( s) Plot
control and the the overshoot
accuracy
determine the and
of steady-
the steelthe determine the s
s (+s + b) steady-state
strip thickness.
state tracking error
The errorversus
transfer
due K.to function
a unit for
step the
input, process
that to a unit step d
the steady-state
M04_DORF2374_14_GE_C04.indd
M04_DORF2374_14_GE_C04.indd
E4.11Determine
301
Considerthe
301
100therelationship
closed-loopbetween +
system in K
17/09/21
17/09/21 2:20 PM
2:20 PM
G ( s) = , Gc( s) = K 1 , and  H ( s) =
theFigure E4.11,
steady-state 2
. E4.11shown
is, let
Consider R ( s)the
in Figure =E4.13 /s. can be represented
1closed-loop system in Figure as E4.11, N ( s) = 1/s and
n K and system where
error to sa+ramp 100 input and the gain K and system s+5 (c)where
Compute the transfer function 1 Y ( s)/Td ( s) and ber, in this case, t
d b can we guar- ( s) =
dy-state error to
parameter
In the following b. For what values
K analysis,
N(s)
of
the tracking K anderror b 14
caniswe guar-
defined determine theGsteady-state s ( s + 20 error .
) of the output (c) If the goal is to tr
to beGthat
antee ( s()s=
E )the
=R ( s) −and
magnitude Y ( s)of : Hthe( s) steady-state
= 2 . to
error due to a unit Kstep disturbance input, 14
that is, .let measurement no
FIGURE E4.12 s +
Closed-loop 10 s + 5 s + 6 G ( s ) = and H ( s ) =
nonunity a(a)ramp Computeinput istheless thansystem
transfer 0.1?
function withTnonunity
( s) =  Y ( s) /R( s) Calculate
T d ( s ) = the1 / ssensitivity
.+ 10 of the closed-loop s2 + 5 s +transfer 6 mizing the effec
feedback and measurement noise. function to changes in the controller gain K.
and determine the steady-state tracking error due (d) Compute the sensitivity STK . would you select
T ( s)   = Y ( s)/R ( s). to a unit step response, that is, let R( s) = 1/ s and E4.12 In Figure E4.12, consider the closed-loop system E4.13 A closed-loop sy
assume that N ( s) = 0. with measurement noise N ( s), where steel rolling mill to c
( s)   = R ( s)   − Y ( s). (b) Compute the transfer function Y ( s) /N ( s) and strip thickness. The t
100 K2
mine the steady- determine the steady-state tracking error due G ( s) = , Gc( s) = K1 , and  H ( s) = . shown in Figure E4.1
s + 100 s+5
step input, that to a unit step disturbance response, that is, let
17/09/21 2:20 PM
M04_DORF2374_14_GE_C04.indd 301 In the following analysis, the tracking error is defined 17/09/21 2:20 PM G (s
N ( s) = 1/s and assume that R ( s) = 0. Remem-
Y ( s)/Td ( s) and M04_DORF2374_14_GE_C04.indd
ber, in this case, the to be E ( s) = R ( s) − Y ( s):
302 desired output is zero. 17/09/21 2:20 PM
(a) Compute the transfer function T ( s) =  Y ( s) /R( s) Calculate the sensiti
of the output (c) If the goal is to track the input while rejecting the
put, that is, let and determine the steady-state tracking error due function to changes i
measurement noise (in other words, while mini-
mizing the effect of N ( s) on the output), how
would you select the parameters K1 and K2?
ed-loop system E4.13 A closed-loop system is used in a high-speed
steel rolling mill to control the accuracy of the steel
strip thickness. The transfer function for the process
K2
 H ( s ) = . shown in Figure E4.13 can be represented as
s+5 1 M04_DORF2374_14_GE_C04.indd 302
error is defined G ( s) = .
s ( s + 20)
) =  Y ( s) /R( s) Calculate the sensitivity of the closed-loop transfer
cking error due function to changes in the controller gain K.
 R(s) + - Y(s)
E(s) + 1
Desired K K1 Actual
+ s
depth - - depth

K2

302 Chapter 4 Feedback Control System Characteristics Sensor

FIGURE E4.9
Depth control KDisturbance
system. Td(s) Exercises 377
Controller Plot the poles and zeros of this system and dis-
Process
R(s) + - Y(s)
E(s) + cuss the dominance 1of the complex poles. What over-
Desired + K K(s + 50) K1 46.24 Actual
R(s)depth shoot for+ a step inputs do you expect?
Y(s)
- s + 200 - s 2 + 16.7s + 72.9 depth
-
+ K2
Sensor R(s) 100 Y(s)
FIGURE E4.10 -
Sensor - s2 Position
425
FIGUREcontrol
Feedback E4.9 s + 425
system.
Depth control K
system. Ks
Exercises 377
Velocity
Td (s) Controller + Plot the poles and zeros of this system and dis-
Process
R(s) cuss the dominance Gc(s)of the complex
G(s) poles. What over-
Y(s)
+ K(s + 50) 46.24 Position feedback
R(s) shoot- for a step input do you expect?Y(s)
+
+ (a) - + s + 200 s 2 + 16.7s + 72.9
R(s) G(s) Y(s) FIGURE E5.6 Block diagram with position and velocity
H(s)
feedback. +
- + +
Sensor R(s) 100 Y(s)
Gap dynamics s 2
Position
FIGURE
I(s)
E4.10 H(s) 425Y(s) - -
+
Feedback control K E5.7 Effective control of insulin N(s) injections can result
Coil
system. s + 425
Gap
s(s + 14) in better lives for diabetic persons. Automatically
current E4.11
FIGURE - spacing FIGURE E4.12 Closed-loop
Closed-loop system with nonunity Ks system
controlled insulin injection
with nonunity
by means of a pump and
feedback. feedback and measurementVelocity noise.
Td (s) a sensor that measures blood sugar can be very ef-
+
fective. A pumpGand injection system has a feedback
(b) function T ( s)   = Y ( s)/R ( sR(s) c(s) G(s)
(a) Compute the transfer ). controlto aas unit stepPosition
shown response,
in Figure that let R( s) =
E5.7.is,Calculate
feedback s Y(s)
the1/suitable
and
T ( s)Capítulo
  = Y ( s)/R (5s). + -
gainassume
K so that N ( spercent
that the ) = 0. overshoot of the step re-
FIGURE E5.3
+ Levitated train (a) +
control. (Bernd Mellmann/
R ( s)   − Y ( sFIGURE E5.6 Block diagram function
with position
(b) Define the tracking
R(s)
Alamy Stock Photo.) G(s)
error to be E ( s)   =Y(s) ). (b) Compute
sponse due to the
the
H(s)transfer
drug injection Y.(Os.)and
is P /= velocity
N (7%.
s) and
R ( s)
E ( s)   = R ( s)   − Y ( s-). Compute E ( s) and determine the steady- feedback.determine the steady-state tracking
+ error due
is the desired blood-sugar level+and Y( s) is the actual
state tracking error Gapdue to a unit step input, that
dynamics to a unitlevel.
blood-sugar step disturbance response, that is, let
E5.4 is, let
I(s) A feedbackR ( s ) = 1/ s.
H(s)
system with negative unity feedback Y(s)has N ( s ) =
Answer: K = 1.67 1/ s and assume that R ( s) = 0. Remem-
(c) Compute+ the transfer K function Y ( s)/Td ( s) Gap and E5.7 Effective
ber, in this control
case, the of desired N(s)
insulinoutput
injections
is zero.can result
a loop
Coil transfer function E5.8(c) Abetter
control system forthe
positioning the head theof a
determine the s(s + 14) error of the output
steady-state in If the lives
goal is for
to diabetic
track persons.
input while Automatically
rejecting
current - 2 ( s + 8) spacing floppy disk insulin
drive has the(in
closed-loop transfer function
FIGURE E4.11
due to aClosed-loop
L ( s) =
unit step s)system
G ( s) =with
Gc(disturbance input, .that is, let FIGURE
nonunity E4.12
measurement
controlled Closed-loop
noise system
injection other with
by means nonunity
words, ofwhile
a pumpmini-
and
feedback. T ( s) = 1/s. s ( s + 4) feedback and measurement noise. 0.313( s + 0.8)
d mizingthat
a sensor the
T )effect
( smeasures
= N ( s) on
of blood sugarthecan output),
. be very howef-
(d)(a) Compute
Determine the sensitivity
the closed-loop STK .
(b) function
transfer function would
fective. you select
A pump and ( +
s the 0.6 ) ( s2 system
parameters
injection + 4 s +Khas 51 ) and K2?
a feedback
(a)T (In
Compute
s)  Figure /the
= Y ( s)E4.12,R( s)transfer
. consider
(b) Find T (response,
theclosed-loop
time s)   = system
Y ( s)y/R(t )(,s)E4.13
. to closed-loop
control a unit step response,
as shown Figurethat
insystem R( sa) =
is, Calculate
let in 1/ ssuitable
and
E4.12 the PlotA the poles and isE5.7.
used the
andhigh-speed
T ( s)   = Ywith
(for
s)/Rmeasurement
( s)step
a .
FIGURE E5.3 Levitated input r ( t )
noisetrain= sfor
NA( control.t >(Bernd
), where 0. (c) Mellmann/
Determine gain
steel assume
K so that
rolling that
mill N (zeros
the
to = 0.of this
s)control
percent
system,
overshoot
the accuracy ofofthe
discuss the
the step
steel re-
(b)theStock
Define theovershoot
tracking error be E ( s)   (d) = RUsing( s)   −the
Y ( s). (b) dominance ofthethetransfer
third pole. What percent overshoot
Alamy percent Photo.) of thetoresponse. Compute
sponse
strip due to the drug function
injection isY (
P s
.O) /.N
function for the process s)
= ( s)
7%. andR (
E ( s)   = R ( s)   final-value
− Y ( s). Compute100theorem, E ( s) and determine the steady- K2 a thickness.
for determine
step inputthe The
do you transfer
expect?
steady-state tracking
G ( s) = , Gc( sdetermine
) = K1 , and the steady-state
 H ( s) = value . is the desired
shown in Figureblood-sugar
E4.13 can be level and Y( s) error
represented is the due
as actual
of state
y(t ) .stracking
+ 100 error due to a unit step input,sthat +5 E5.9 blood-sugar
Atounitya unit negative feedback control
step disturbance
level. response, system
that is, hasletthe
1
378
E5.4 Chapter
is,
InAnswer:
A
the let (b)
feedback R ( s)5
following y(= )The
system/s.1 −
1=
tanalysis, Performance
with ( of
−3t  sin unity
thenegative
1.07 etracking 7tFeedback
error +feedback
is1.2 ) Control
defined has Systems
loop Ntransfer
Answer: ( s) =
K 1/ =function
s1.67and ) = that R (. s) = 0. Remem-
G ( sassume
(c) Compute the transfer function Y ( ) d( )
s / T s and ber, in this s ( s + 20) K zero.
E5.5toabe loop E (transfer
Consider s) =the R ( sfunction
) − Y ( s): system in Figure
feedback E5.5. Find E5.8 A control L( scase,
) = Gthe
system )desired
c( sfor ) =output isthe
G ( spositioning . head of a
(a) determine
K Compute
such thatL
the
the
the
steady-state
transfer
( s)step closed-loopfunction error
T
system
of the
  output
)Y ( s) /R( s)the
2( s)+=8minimizes
Pump (c) If
floppy
the
Human
Calculate goal
disk bodyis
thedrive to track
sensitivity
has the
the
of input
closed-loop (while
the sclosed-loop K )
rejecting
s + transfer the
transfer
function
due to a unit c( s)G ( s) = input, that
= Gdisturbance . is, let measurement
function to changes noisein (in
the other
controller words,
Y(s) gain while
K. mini-
ITAE performance criterion +for as(step
and determine the steady-state tracking 4)
s + input. error due Insulin (a) Determine s+2
Td ( s) = 1/s. R(s) K mizing the s)the
T (effect = percent N ( s)(Blood-sugar
of 0.313 + 0.8
on the) output),
sovershoot and
. settling
how
E5.6
(d)(a) Consider
Determine
Compute the block
the diagram
the sensitivity STK-. shown
closed-loop in Figure
transfer E5.6
function time s(s + 1)
(using a 2% ( s +settling
0.6 ) ( levelK1 and
s 2criterion)
+ 4 s + 5 ) K2a? unit
due to
would you select the parameters
[16].  (a)
= YCalculate
( s)Figure (E4.12, . the
s)/R( s)consider (b) steady-state error for a ramp step input.
E4.12 TIn Findthethe time
closed-loop response,systemy(t ) E4.13,
A Forclosed-loop andsystem
input.
for a (b)
step Select
input a value
r ( t ) = ofAK that
for twill
> result
0. (c) in zero per-
Determine
Plot
(b) the polesrange
what zeros
of K of isisthe
thisused in atime
system,
settling high-speed
and discuss
is approx- the
with measurement noise N ( s), where steel rolling
dominance mill
of to
the control
third the
pole. accuracy
What of
percent the steel
overshoot
cent overshoot
the percent to a stepof
overshoot input. Provide rapid
the response. response.
(d) Using theSensor strip imately Ts   ≤ 1 s?
FIGURE E5.7 for athickness.
step input The dotransfer
you expect? function for the process
final-value 100theorem, determine the steady-state K2value
G ( s) = level , Gc( s) = K1 , and  H ( s) =
Blood-sugar . 1 shown
E5.9 A in
unityFigure E4.13feedback
negative can be represented control system as has the
of y(t )s. + 100 s+5 1
the tracking (error isController )
control.Answer: (b) y ( t ) = 1 − 1.07 e −3t  sin 7 t + 1.2 loop transfer function
In the following analysis, defined Process G ( s) = .
M04_DORF2374_14_GE_C04.indd 302
s ((ss+ K 17/09/21 2:20 PM
E5.5
to be Consider
E ( s ) = Rthe
( s ) feedback
− Y ( s ): system
+ in Figure E5.5. Find L( s) = Gc( s)G ) =20) .
E5.10 AE5.5
FIGURE such
second-order control system has the closed-
that the R(s)function system
closed-loop ( s) /K
1
(b) For the gain of part (a), determine
Calculate the sensitivityY(s) s( s + K and
of the closed-loop ) transfer
plot the
Feedback
K Compute
(a)loop transfer
system
thefunction
transfer T ( s) = YT( s()s/)R=( s) minimizes
Y. The R ( s) the
system s(s tracking
+ 4) error for a unit step disturbance. Does the
ITAE
and performance criterion function to changes in the controller gain K.
determine
specifications
with proportional for thea step inputfor
steady-state - atracking
follow: step input. error due (a) Determine
speed change themore percent
than 5%? overshoot
(Set R( s)and = 0 settling
and re-
E5.6 1.Consider
controller the block diagram
Percent overshoot P .O. ≤ 5%. shown in Figure E5.6 time (using
call that a 2% settling
the tracking error Ecriterion)
( s) = R( sdue )   −to T (as)unit
.)
Gc( s)[16].
2.
= K. (a) Calculate
Settling time Ts the < 4 steady-state
s. error for a ramp step input.
E5.13 For the system with unity feedback shown in
input.
3. Peak (b)timeSelectTpa < value1 s. of K that will result in zero per- (b) For what range of K is the settling time is approx-
Figure E5.11, determine the steady-state error for a
cent overshoot to a step input.
Show the desired region for the poles of T ( s) in Provide rapid response. imately Ts   ≤ 1 s?
step and a ramp input when
order to achieve the desired response. Use a 2% set- 20
tling criterion to determine settling time. G ( s) = 2 .
s + 14 s + 50
E5.11 A system
M04_DORF2374_14_GE_C04.indd 302 with unity feedback is shown Controller
in Figure Process 17/09/21 2:20 PM
E5.11. Determine the steady-state + error for a step Answer: 1 ess = 0.71 for a step and ess = ∞ for a
FIGURE E5.5
and a ramp input when R(s) K ramp. Y(s)
Feedback system s(s + 4)
M05_DORF2374_14_GE_C05.indd 377 10 ( s -
+ 5) 14/09/21 10:20 AM
with proportionalG ( s) = . E5.14 A feedback system is shown in Figure E5.14.
controller s ( s + 2)( s + 4)( s + 6) (a) Determine the steady-state error for a unit step
Gc( s) = K. when K = 0.6 and Gp ( s) = 1.
+ (b) Select an appropriate value for Gp( s) so that the
R(s) G(s) Y(s) steady-state error is equal to zero for the unit
 s ( s + 2)( s + 4)( s + 6)
(a) when K = 0.6
Determine theand Gp ( s) = 1.
steady-state error for a unit step
+ (b) Select
when anK appropriate
= 0.6 and Gvalue
p 1. Gp( s) so that the
( s) =for
R(s) G(s) Y(s)
+ (b) steady-state error is equal
Select an appropriate valueto forzero
Gp( sfor
) sothe
thatunit
the
R(s) - G(s) Y(s) step input. error is equal to zero for the unit
steady-state
-
378 Chapter 5 The Performance of Feedback Control Systems step input.
+ K
FIGURE E5.11 Unity feedback system. Pump R(s) Human G p(s)
body Y(s)
+ s(s +K5)
FIGURE E5.11 Unity feedback
+ system. Insulin R(s) s + 2 p(s)
G - Y(s) Y(s)
E5.12 The Ferris wheel is often featured at state fairs s(s + 5)
andThe
carnivals.
R(s) K
s(s + 1) - Blood-sugar Problems 379
E5.12 FerrisGeorge
wheel isFerris
oftenwas born inatGalesburg,
featured state fairs level
-
Illinois, in 1859; he later moved
and carnivals. to Nevada and then s + 1 Problems 379
Plot y(t ) for aGeorge unit step Ferris input waswhen born(a) in Galesburg,
the actual E5.19 A second-order system has the closed-loop
graduated
Illinois, in from
1859; Rensselaer
he later moved Polytechnic
to Nevada Institute
and thenin (s +s +0.5)
1 379
1881.
( s) isy(used,
TPlot
By 1891,t ) forFerrisand
a unit (b)step using
had considerable inputthe when dominant (a) the
experience
complex
actual
with E5.19 transfer function
A second-order system hasProblems the closed-loop
graduated
poles. Compare fromthe Rensselaer
results. Polytechnic Institute Sensor in (s + 0.5)
T ( s ) is used, and (b) using the dominant complex transfer
Y ( s )function ω 2 20
FIGUREiron, E5.7
1881.
Plot steel,
yBy andaFerris
)1891,
(tCompare
for bridge
unit had construction.
step considerable
input when Heexperience
conceived
(a) the actual and
with FIGURE E5.19
T ( s) = AE5.14 second-order
=Feedbacksystem n
system. has = 2the closed-loop .
E5.16 poles.
Asteel,
constructed
Blood-sugar second-orderhisand thesystem
famous results.
wheel is for theHe 1893 Columbian ()s) s2 + 2ζωωnn2s + ωn2
RY( sfunction s + 5.38 20s + 20
( s)level
Tiron, is used, and bridge (b)construction.
using 10
( the / ) dominant
( +
conceived
) complex and 1
FIGURE
T
transfer
( s ) =E5.14 = Feedback system. = .
control. Exposition in Y ( s ) z s z
E5.16poles. ACompare
constructed second-order
This(Chicago
s)famous
the
= results. [8].
system =Consider
wheel is for thethe 1893 requirement
. Columbian E5.15 A closed-loop YR ( s()s) s control
2 + 2ζω s + ω n2 hass2a +transfer
ω n2 n system 20 s +func-
5.38 20
that the steady-state R Y ( (
s )
s )
speed ( s(10
+
must /1z )
)( (
s s
be+ + 8z))
controlled to T ( s(a)
)= = the = 2 P.O., the time. to
E5.16Exposition
A second-order in
T (Chicago
s) =system [8].=isConsider the requirement . (Estimate
s)( sas percent overshoot
E5.10 A second-order of the control s) system (b)tion
E5.15 A T the
R ) follows:
closed-loop s2 + control
2ζω(a), s+ system
ω n2 has s +a 5.38 transfer
s +the 20 func-
within
that
Consider
the5%steady-state
the case
desired
Y R( s()speed
where
speed
1 (< ( smust
10 /z+z<)1(has
for )( sthe
s8.+be+ the
Obtain ) closed-
8Ferris
z)controlled wheel
the par-
to For
tion (a)Tpeak
gain
Estimate
( s ) as
Tp , of and
follows:
Y (the
s
part
)
the
percent
n determine
settling time Tsand
overshoot
2500
of the
P.O.,
plot unit
the time stepto
loop transfer
speed control function
T ( )
system
s = T ( s
shown
within 5% of the desired speed for the Ferris wheel) =
= Y in( s )/ R
Figure ( s ) . The
E5.12.. system tracking ( error
)
response.
T s = for a = unit step disturbance. Does . the
tial fraction expansion, ( s) andfollow:
( splot
+ z1the
)( + output
8) achieve forthea unit peak TpRY , (and the settling 2time Ts of the unit step
(a)Consider
specifications
speed Determine
control the
for theRrequired
case
asystem
step shown1 in
where
input < gain <sK8.
Figure toObtain
E5.12. par-
the speed
(a)
(b) change
Estimate
Obtain
T ( s) =the more
the (ssystem
s))percent
than ( s +response
= 5%?
50)(Set ( s 2500
overshoot +Rto(10
s)P.O.,+050
as=unit ) time
and
the step,. re- and to
step
tial input
fraction z=
forexpansion, 2, 4, andand 6.plot the output for a unit response.
1. Consider
Percent overshoot
steady-state
(a) Determine the case P .O
requirement.
thewhere .
required≤ 5%.
1 < zgain < 8.KObtain to achieve the par- the call that
peak
verify theT tracking
the
p , and
R ( s )the
results error
( s
in + E
settling
part
(b) Obtain the system response to a unit step, and
(
50 s )( =
time
s
(a).
2R + (
T s)of
s
10  s−+ T50
the s)).) step
(unit
E5.17 step
2. tial A
Settling input
fraction time
steady-state for
closed-loop Tsz<=
expansion,
2,s. 4, andsystem
4control
requirement. 6.
and plot the transfer output for function
a unitE5.13 response.
For Consider
the system with unity feedback
T ( s ) has two dominant complex conjugate poles. E5.20
Disturbance verify the
theresultsclosed-loop in part (a). in shown
system Figure in
E5.20,
3.
E5.17 Peak
step A time
input T
closed-loop < 1 s.
forp z = 2, control 4, and 6.system transfer function Figure (b) Obtain
E5.11, the
determine system theresponse
steady-state to a errorunit step,
for aand
Sketch the region in the forleft-hand s-planeof T where the
( s) inpoles. T
E5.20 where
(s)
Disturbance Consider the closed-loop system in Figure E5.20,
Show (the desired
s) closed-loop two region the poles step and verify a rampthe results in part( s +(a).
TA has dominant complex conjugate d
E5.17complex control system to transfer function input
Wheel when
and 2)
orderSketch
to achieve poles the should
desired be located
response. Use meeta 2% the given
set- T where
(s) L ( s ) = K .
T ( s) hasthe region in the left-hand
complex s-plane where the E5.20 Consider
d thedynamics
closed-loop system
52s) . in Figure E5.20,
a
tlingspecifications.
criterion poles
complex
two dominant
to determine settling time.
conjugate poles.
Controller motor
G (Wheel
s) =L (and s2) = 2
(20s2( s++
Ka .
Sketch the regionshould thebe
in R(s) located
left-hand to meetwhere
s-plane the given
the
Controller - where motor s
dynamics + 14 s +
((ss ++250 )5 s) Y(s)
E5.11 A specifications.
system with unity feedback +is shown in Figure K s + 6
(a) 0.6 ≤poles
complex ζ ≤ 0.8, should Desired ω n  located
be
R(s) ≤ 10 to meet the given - (a) Determine the closed-loop
L ( s) = 2 transfer
Ka . Speed function
Y(s)of Ts
E5.11.
FIGURE (b) Determine
0.5
specifications.
(a) E5.12 ≤ ζ ≤ the
0.707,
0.6 ≤ ζ ≤ 0.8, Desired steady-state
speed ω  
ω n n  ≤ 10 ≥
+ error for a step
10
-
s +K9 +
Answer: (a) e Y =(
Determine
ss s(s
)/
0.71 R+ (2)(s +. 6+ a4) step
ssfor
)
the ( s +and
closed-loop 5 s) ess = ∞ for a
transfer function
rotation
Speed of Ts
and(c)a(b)ramp ζ ≥ input
0.5, when 5 ≤ ω   ≤ 10 s+9 + (b) Determine
ramp. Y ( s(s)/R + (2)(s
the
s ) . +steady-state
4) error rotation
of the closed-
Speed
FIGURE control
(a) 0.6 0.5
E5.12 ≤
of ζ
a
≤ ζ ≤ 0.8, ≤ 0.707, speed
n ω
ω n( s  +  
≤n 510 ≥ -10 (a) Determine the closed-loop transfer function T s
10 ) loop system the response to
Speed (d)
Ferris wheel.
(b)(c) ζζ≤G
control
0.5 ≥ 0.707,
≤(of 0.5,
ζs)≤ a=0.707, 5 5≤≤ωω nω
  ≤10
 n ≤ 10
  ≥ 10 . E5.14 A (b) Determine
feedback Y ( ssystem
)a/Rvalue( s). is for steady-state
shown inaFigureunit ramp
error ofinput.
E5.14. the closed-
(c)
Ferris wheel.
(d) ζζ≥≤0.6, 0.707, s (ωsn+ 5≤ 2≤)(6ωs+ n
  4
≤ )( s
10 + 6 ) (a) (c) Select
Determine loop system
the response
steady-state Ka to so
errora that
unitfor the
ramp
a steady-state
unit input.
step
(c) ζ ≥ 0.5, 5 ≤ ω n   ≤n 10 (b) Determine the steady-state error of the closed-
(c)Aζ ζ≤system≥0.707,
0.6, is ωshown   ≤ω6   in when error
(c) loop
Select
K= of0.6athe value
andsystem Gfor ( sresponse
)K= a 1. sounit to athe
that unitsteady-state
step input
E5.18 (d) 5n ≤ ≤ 10 Figure E5.18(a). The system response p to a ramp input.
n is zero.
error
E5.18 response
(c) to a unit
+0.6,
ζA≥ system ω n  shown
is step,
≤ 6 when in Figure K = 1,E5.18(a). is shown The in (b) (c)Select Select aofvalue
an appropriate the system forvalue Kresponsefor Gp(tosthe
a so that )asounitthatstep theinput
steady-state
R(s) G(s) the value ofY(s) is zero.
steady-state error is equal to zero
Figure
response E5.18(b).
to a Determine
unit step, when K = 1,Kissoshown that thein error of the system response to afor unit the step unit input
E5.18 A system - error is shown in Figure E5.18(a). The
steady-state
Figure E5.18(b). is equal to the
Determine zero.value of K so that the step isinput.
zero.
response to a unit step, when K = 1, is shown in + s+2
Answer:
steady-state K =error 1.25. is equal to zero. 1
Figure E5.18(b). Determine the value of K so that the R(s) + s s++52
Y(s)
Answer: K = 1.25. s1
steady-state error is equal + to zero. R(s) - Y(s)
+ + s s++2 5 K
FIGURE R(s)E5.11 KUnity
M05_DORF2374_14_GE_C05.indd
Answer: =K 1.25. 378
feedback + system.
G(s) Y(s) R(s) Gp(s) 1s Y(s) Y(s)
14/09/21 10:20 AM
R(s) -
R(s)
M05_DORF2374_14_GE_C05.indd K 378 - G(s) Y(s) s + 5 s(s + 5) s 14/09/21 10:20 AM
-
E5.12 R(s)The Ferris wheel is +often - featured at state fairs Y(s)
-
K G(s) Ka
and carnivals. George Ferris was born in Galesburg,
- (a) Ks a+ 1
Illinois, in 1859; he later moved to Nevada and then
graduated from Rensselaer (a) Polytechnic Institute in K(sa + 0.5)
1881. By y(t)1891, Ferris had considerable (a) experience with FIGURE E5.20 Nonunity closed-loop feedback control
iron, steel,
y(t) and bridge construction. He conceived and FIGURE system
FIGURE withE5.20
parameter NonunityKa . closed-loop feedback control
system
E5.14
with
Feedback system.
parameter Ka . closed-loop feedback control
constructed
1.0y(t) his famous wheel for the 1893 Columbian FIGURE E5.20 Nonunity
Exposition in Chicago [8]. Consider the requirement system with parameter Ka .
1.0 E5.15 A closed-loop control system has a transfer func-
that0.8the steady-state speed must be controlled to
1.0
0.85% of the desired speed for the Ferris wheel tion T ( s) as follows:
within
0.8
speed control system shown in Figure E5.12. Y ( s) 2500
T ( s) = = .
(a) Determine
0 the required gain K to achieve thet R( s) ( s + 50)( s2 + 10 s + 50)
00
steady-state requirement. t
0 0 (b) t
0 Disturbance
(b) Td (s)
FIGURE E5.18 Feedback(b) system with prefilter. Wheel and
FIGURE E5.18 Feedback system with prefilter. Controller motor dynamics
PROBLEMS
FIGURE E5.18 Feedback R(s) system with prefilter. - Y(s)
+ K s+6
PROBLEMS Desired Speed of
PROBLEMS s+9 + (s + 2)(s + 4)
P5.1
FIGURE An important speed
E5.12 problem for - television systems is Let Kg = Kt = 1 and assume that rotation τ g is negligi-
Speed the
control jumping
of a or wobbling
P5.1 An important problem for television systems is of the picture due to the ble.
Let (a)  Kg Determine
= Kt = 1 and the error assume of thatthe systemτ g is negligi- E ( s).
Ferris wheel.
P5.1 movement
An jumping
the important of or theproblem
camera.for
wobbling This
of the effect
television
picture occursdue when
systems to the is (b) Determine
Let
ble. K(a)  Kt =the
g =Determine 1 necessary
and theassume loopof
error gain
that theτKgasystem
Kism K t  when
negligi- E ( s).
the
the camera isof
jumping
movement or mounted
wobbling
the camera.in aofmoving the picture
This truck occurs
effect or
dueairplane.
to whenthe a(b) Determine
ble. 1°/s(a) steady-state
Determine theerror the is
necessary allowable.
error loopof gainthe (c) KaThe
system Km Kmotor ( s).
tE when
The
movement
the cameraDynalens ofis the system
mounted camera. has
in abeenThis
moving designed
effect truck occursorto airplane.
reduce
when time
a 1°/s constant
(b) Determine steady-state is τnecessary
the = 0.40 s
m error is loop . Determine
allowable. gain K(c) a Kthe
The
m Ktneces-
 when
motor
the
theThe effect
cameraDynalens ofis rapid
mounted scanning
system inhasa movingmotion;
been see Figure
truck
designed or airplane. P5.1.
to reduce asary
1°/sloop
time gain so
steady-state
constant is that
τerror
m = the0.40 s
issettling
allowable. time(c)
. Determine (toThe within
themotor 2%
neces-
Athemaximum
The effect of scanning
Dynalens system
rapid motion
has
scanning been ofdesigned
motion; 25°/s seeisFigureexpected.
to reduce P5.1. ofsary
time theconstant
final gain
loop value issoτofmthatυ= b )0.40 s s ≤
is Tsettling
the 0.03 s.
. Determine time (tothe within neces- 2%
theA effectmaximum of rapid scanning scanning motion motion; of 25°/ssee Figure P5.1.
is expected. sary
of the loop finalgain value so that of υthe b ) issettling
Ts ≤ 0.03 s. time (to within 2%
A maximum scanning motion of 25°/s is expected. of the final value of υb ) is Ts ≤ 0.03 s.

M05_DORF2374_14_GE_C05.indd 378 14/09/21 10:20 AM

M05_DORF2374_14_GE_C05.indd 379 14/09/21 10:20 AM

M05_DORF2374_14_GE_C05.indd 379 14/09/21 10:20 AM
M05_DORF2374_14_GE_C05.indd 379 14/09/21 10:20 AM
 A
382 Chapter 5 The Performance of Feedback Control Systems

382 Chapter 5 The Performance of Feedback Control Systems

380 Chapter 5 The Performance of Feedback Control Systems (a)
380 Chapter 5 The Performance of Feedback Control Systems
Torque motor Vc(s) Mirror Vb(s)
Torque motor Laser Amplifier
Camera Camera Rate gyro
cavity
Laser
Motor
Mirror Bellows
CameraB speed Kg cavity+ Km speed
B Ka
Feedback Control Systems stg + 1 stm + 1
d - +
R(s)
d
A FocusingTachometer
lens -
A Focusing lens
Kt
Nozzle assembly
Nozzle
(b) assembly
(a) (a) Beam FIGURE P5.3 Laser b
FIGURE P5.1 Camera wobble control. Beam
FIGURE P5.7 (a)
(a)VAstronaut Bruce Workpiece
c(s)
Vb(s) Gas jet(a) A system response
McCandless II AstronautMotor
Amplifier Workpiece
Vc(s) Rate gyro
Camera Bellows
Vb(s) P5.2 A specific closed-loop(a)control system is to be de-
controller follows:
is shown
FIGURE a few
P5.7
Rate Amplifier
speed
Camera Kg gyro + R(s)
Motor
Km speed
Bellows signed for an underdamped (a) response to a step input.
meters
(a) speed away
Astronaut K from
Bruce + K + Force 1 Velocity 1 Position
the stg +g1
Earth-orbiting Desired a Astronaut stmK+m1K1 speed The
GasK2jet specifications for the systems are as follows:
McCandless II - Ka + Is (meters)
space shuttle.g+1 position - - stm + 1 controller K
is shown a st
few - R(s) 10% < P .O. < 20%, Y(s)
He used a nitrogen- R(s) + K
s(s + K1)
meters away from + R(s) Force - 1 Velocity 1 Y(s)
Position
Tachometer Ts < (a) Determine whet
propelled
the Earth-orbiting Desired K1 K2 s(s0.6 s.
+ K1)
hand-controlled Tachometer
- - K - Is s (meters) simultaneously. (b) I
space(a) shuttle. position Kt 3
device
He used called the
a nitrogen- (a) Identify the desired area for the dominant roots simultaneously, dete
manned K (b)
propelledmaneuver-
t
of the system. (b) Determine the smallest value of so that the peak tim
ing unit. (Courtesy (b) (b)
hand-controlled
Gas jet K3 a third root r3  if the complex conjugate roots are to tions are relaxed by
ut of NASA.)
device (b) Block
called the (b) FIGURE P5.3 Laser beam control.
FIGURE P5.1 Camera wobble control.
controller represent the dominant response. (c) The closed-loop P5.5 A space telescope
diagram.
manned maneuver- FIGURE (b)P5.3
system
Laser beam control.
transfer function T ( s) is third-order, and the
FIGURE
ing P5.1 1Camera
Force
unit. (Courtesy wobble control.
Velocity 1 Position
astronomical experi
K1 feedback
A system has a unity gain.
response to a Determine
step input the
is loop transfer
specified as system is desired to
ofKNASA.)
2 (b) Block s (meters) G (response
s) = Y ( s)/to
E (as) step
- P5.2 A specific Isclosed-loop control system is
diagram. to be de- function
follows:
A system wheninput
the settling time to
is specified as track solar objects w
P5.8 Photovoltaic arrays generate a DC voltage that can where (b)K = 40. (a) Compute the closed-loop trans-
within 2% of the final value is Ts = 0.6 s and the per-
P5.2 signed for an underdamped
A specific closed-loop response to a isstep to input.
be used to drive DC motorscontrol or thatsystem can be converted be de- ferfollows:
centfunction,
overshoot and is (b)
P .O.determine
T= p = 0.25 s,the settling time to
20%.
minute per second. T
The specifications
signed for an for the system
underdamped are as to
response follows:
a step input. P5.5(a). The control
K3 to AC power and added to the distribution network. It within 2% of the final value
T.p==to of the
0.25 s, system to a unit
The specifications for the system are as follows: P5.3 A laser beam can P .O
be used 10%. weld, drill, etch, cut, and Assume that τ1 = 1
P5.8 is Photovoltaic
desirable to maintain arrays < the
10% generate P .Opower
. <a20%,DC outvoltage
of the that arraycan at step
where disturbance.
K = 40. (a) Compute the closed-loop trans-
mark metals, as shown P .O = 10%.P5.3(a) [14]. Assume
in. Figure gain K = K1 K2 requ
its
be maximum
used to drive available
DC as
motors
10%T<<P .0.6 s. the orsolar
that
O. < 20%, incidence
can be changes
converted fer
P5.9 (a) function,
Antennas
Determine and
thatwhether (b)
receive determine the
and specifications
both transmit settling
signals time
cantolaser
becom- to
met
during the day. One such s we have a work requirement for an accurate to step command is as
to AC power and added toclosed-loop
the distribution system is shown
network. It within
munication 2% of
simultaneously.
(a) Determine the
satellites
(b) final
whetherIf value
generally
the ofinclude
the system
specifications
both specifications to be
an extremely
cannot can abeunit
met
met
Ts < 0.6 s. mark a linear path with a closed-loop control system, overshoot of P .O. ≤
in Figure
is(a)
desirable P5.8.to The
maintaintransfer the function
power for
out the
of the process
array is
at step
large disturbance.
horn in antenna. The
Identify the desired area for the dominant roots simultaneously,
assimultaneously.
shown determine
Figure(b) If themicrowave
P5.3(b). a compromise
specifications
Calculate antenna
value
cannot
the canbe
necessary be
formet
K state error of the sys
its
(b) maximum available as the solar incidence changes of P5.9 175 ft long and
of(a)the system.
Identify the (b)desired
Determine area K forthethe smallest
dominant value roots so Antennas
that Ktheand
simultaneously,
gains that
peak Kweigh
receive
time 340and
and
determine tons. A photo
atransmit
percent of an
signals
overshoot
compromise antenna
to com-
specifica-
value for K
1 to result in a steady-state error of P5.6 A robot is progra
during
aofthird the
the root day. One
r3  if (b)G (
suchs )
the Determine= closed-loop
complex conjugate , system is
rootsvalueshown
are toof is
in
system. + 40 thefor
sfunction smallest 5soshown
munication
tions
mm are
that inr (satellites
the
for Figure
relaxed
t ) = tby
peak P5.9.
time
 mm.the and Suppose
generally
same that
include
percentage.
percent the
an communi-
overshoot extremely
specifica-
torch follow a prescr
aFigure
represent
third rootP5.8. The
the rdominant transfer
3  if the complex response. (c) The
conjugate theclosed-loop
process
roots areisto P5.5 cation
large
tions
A satellite
horn
are
space is 3by
antenna.
relaxed
telescope ft The
in
the
is diameter
microwave
same
to be and antenna
percentage.
launched moves
to atcan
carry about be
out
voltage that can where K = transfer
system
represent 40. the (a) dominant
Compute
function response.Tthe( sK) closed-loop
(c) The trans-
is third-order, and the P5.4175
closed-loop Theft loopand
long transfer
weigh function
340 tons. ofAaphotounity of negative
an antennafeed- tool that is to follo
an be converted fer function, and (b) determine
G ( s ) = the settling
, time to P5.5astronomical
back A system
space telescopeexperiments is to [8].
be The launched pointing
to carry control out Figure P5.6(a). The lo
system transfer function T ( s) is third-order, and the
feedback has a unity gain. Determine the loop transfer is shownis indesired
system
astronomical Figure toP5.9.
experiments achieveSuppose 0.01The
[8]. that
minute the of
communi-
pointing arc and
control
tion network. It within 2% of G the s+ 40system to a unit
function
feedback ( s)final
has Y value
a=unity E (of
( s)/gain. the
s)Determine
when the the
settlinglooptime to
transfer Disturbance
cation
track satellite is 3 ft in diameter and K moves at about
t of the array at step within
disturbance.
function 2% G of( sthe
) =final
Y ( s)value
/E ( s) iswhen Ts = the 0.6 settling
s and the timeper-to Td (s)solar
system is objects
L( s) =with
desired to sapparent
Gc(achieve
)G ( s) = motion
0.01 minuteup
. to of 0.21
arc arcand L ( s) = Gc( s
cidence changes P5.9 Antennas minute
track per
solar second.
objects The
with system
apparent is ( s + 4) up to
smotion
illustrated in Figure
0.21 arc
cent
within that
overshoot
2% of receive
is Pfinal
the .O R(s)
and transmit
. =value20%.is Tssignals = 0.6 stoand Integrator
com- the per-
system is shown P5.5(a).
-minuteThe
Disturbance per control
second.system The system is shown in Figure in
is illustrated P5.5(b).
Figure
munication
P5.3 cent
A laser satellites
overshoot
beam can PSlope
isgenerally
be . =of20%.
.Oused include
to + an
weld, extremely
drill, etch, cut, 1and τcontrol
P(s)
r the process is power curve
Assume
P5.5(a).
T (s) that
TheG(s) 1 = 1 ssystem and τ 2is = 0
shown
Power
. (a)inDetermine
Figure the
P5.5(b).
largemark hornmetals,
antenna. The microwave
as shown antenna[14]. can be s d
P5.3 A laser beam can be in used Figure P5.3(a)
to weld, drill, etch,Assumecut, and +gain
Assume K = K
that1 K τ
2 1required
= 1 s andso that
τ = the
2 output 0 . response
(a) Determineto a unit
the
175 ftwe long anda weigh at maximum
340 R(s) A photo-of an antenna
tons. Integrator
markhave metals,work as requirement
shown in Figure for an accurate
P5.3(a) [14].laserAssume to step
-gain command
K = K 1 K is2 as rapid as
required so reasonable
that the with a percent
response to a unit
is shown ina Figure power
P5.9.SlopeSuppose of that+ the control
communi- P(s)
mark
we have linear
a work path with
requirement a closed-loopfor an accuratesystem, laser
1 to overshoot
step command of P .is O.as≤rapid5%. (b) Determinewith
as reasonable theasteady-
percent
cation satellite is 3Figure
ft inpower
diameter curve and moves at about Differentiator G(s) Power
asmark
shown in
a linear path with P5.3(b). Calculate control
a closed-loop the necessary system,
s +state error
overshoot ofofthe P system
.O . ≤ 5%.for a
(b)step and a ramp
Determine the input.
steady-
at maximum - output
gains
as shownK and in K 1 to result
Figure P5.3(b). in aCalculate
steady-state error of P5.6 state
the necessary As roboterrorisofprogrammed
the system fortoa have step and a toola ramp input.
or welding
FIGURE P5.8 (t ) =Kt  mm. power
5gains
Disturbance mm for K rand to result in a steady-state error of P5.6torch followisa prescribed pathto [7have
, 11]. aConsider
tool or awelding robot
Solar cell control.r (t ) =1t  mm. A robot
Differentiator
M05_DORF2374_14_GE_C05.indd programmed
380
P5.4
T d (s) 5 mm for
The loop transfer function of a unity negative feed- tool
torch that is toa prescribed
follow follow a sawtooth path [7, 11]. path, as shown
Consider a robotin
Integrator P5.4back
FIGURE The system
P5.8 loop transfer function of a unity negative feed- Figure
tool
s thatP5.6(a).
is toThe loop transfer
follow a sawtooth functionpath,ofas theshown
plant isin
- cell
Solar back system
control. P(s) Figure P5.6(a). The loop transfer20 function
( s + 2) of the plant is
1 K
G(s)L( s) = Gc( s)GPower ( s) = . L ( s) = Gc( s)G ( s) =  
s + L( s) = Gc( s)G ( s) = s ( s K
+ 4 ) . L ( s) = Gc( s)G ( s) = s ( s +20 1()(
s+ s +2)4)  
output
s ( s + 4) s ( s + 1)( s + 4)

Differentiator
M05_DORF2374_14_GE_C05.indd 382 14/09/21 10:21 AM
s

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