Problem

Consider the closed-loop system in Figure, whereFIGURE Closed-loop system with nonunity fe...

Consider the closed-loop system in Figure, where

FIGURE Closed-loop system with nonunity feedback.

(a) Compute the transfer function T(s) = Y(s)/R(s).
(b) Define the tracking error to be E(s) = R(s)? Y (s). Compute E(s) and determine the steady-state tracking error due to a unit step input, that is, let R(s) = 1/s.
(c) Compute the transfer function Y(s)/Td(s) and determine the steady-state error of the output due to a unit step disturbance input, that is, let Td(s) = 1/s.
(d) Compute the sensitivity .

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Solutions For Problems in Chapter 4

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