P4.

1
(a)Block diagram of tank level is shown in figure 1

For open loop systems transfer function is

G1 ( s ) =

R
RCs+1

Thus sensitivity is given by

G1

SR =

G1 R
1
. =
R G 1 RCs+1

For closed loop system

T ( s )=

R
RCs+1+KR

Thus sensitivity is given by

T

SR=

T R
1
. =
R T RCs+1+ KR

And
T

SK =

T K
KR
. =
K T RCs+1+KR

(b) For open loop systems

H ( s)
=1
H ( s )
It means that disturbances show directly in the outputs which shown that open loop system
doesnt reject disturbances
For closed loop systems

 H ( s)
1
RCs+1
=
=
H ( s ) 1+KG(s) RCs+1+ KR
And steady state error due to step response is found by

e ss=lim s
s0

( RCs+1 ) A A
=
RCs+1+KR s 1+KR

This shows that as the value of K becomes larger error becomes smaller.
Consider step input

Q ( s )=

A
s

Then for open loop we have

A
s (1G ) = ( 1R ) A
s
e ss=lim
s 0

Steady state error is zero when R=1 but is sensitive to changes

For closed loop systems we have

e ss =lim s
s0

1
A
A
=
1+KG s 1+KR

By selecting large value of K the effect of disturbances is reduced and is relatively insensitive to
changes.
P4.2
(a)The open loop transfer function is

T ( s )=k a G ( s )
Therefore

Sk 1

is undefined and

S Tka =1
The closed loop transfer function is

T ( s )=

k a G(s)
1+k a k 1 G ( s )

Therefore,

S k 1=

T k 1 k a k 1 G ( s )
. =
k 1 T 1+k a k 1 G ( s )

And

S Tka =

T ka
1
. =
k a T 1+k a k 1 G ( s )

(b)Tracking error

E ( s )= d ( s ) ( s )= ( s ) since

The transfer function from wave distribution to output

( s )=

d ( s ) =0

(s )

is

G (s )
T (s)
1+k 1 k a G ( s ) d

Consider a step disturbance input

For open loop system steady state error is given by

A
= A
s
e ss=lim

s (G ( s ) )

s 0

From this error equation it is shown that effect of disturbance is not rejected by open loop
systems
For closed loop systems

( G(s) )
A 2n
A
s
=
1+ k 1 k a G(s ) s
1+ k 1 k a 2n
e ss =lim

s0

From this error equation is can be seen that error is inversely proportional to
that higher the value of

k1 ka

lower will be the steady state error and vice versa.

P4.3
For open loop systems transfer function is

G ( s )=

k
s+1

k1 ka

it means

k=k 1 k a Eb ,

Where

Sensitivity can be found as

G

S K =1
Closed loop transfer function is

T ( s )=

1
1
=
1+k k th G(s) s+1+k k th

(b) for closed loop system

1
s+1
T ( s )=
T
k k th e
1+
s+1

T (s)

Te
k k th

Provided

k k th 1.

From above equation it is shown that large the value of

will be the effect of disturbance in the output and vice versa.

(c) Consider step input

Edes ( s )=

A
s

Tracking error of open loop system can be found using

E ( s )=E des ( s ) T (s)

So steady state error is found by

s 1+

k A
= ( 1k ) A
s+1 s
e ss =lim

s 0

For k=1 the steady state error is zero but it is sensitive to changes in input
Tracking error for closed loop system is

k k th

, smaller

E ( s )=

s+1+k k thk
E (s )
s+1+k k th des

Steady state error is found by using

s+1+k k thk A
s+1+k k th s
s 0
e ss =lim

sE ( s )= lim s

s0

e ss=

A (1+k k thk)
1+k k th

Assuming

k th=1K 1

error can be reduced.

P4.4

(a) Solving this block diagram the overall transfer function is

T ( s )=

Y (s) MG ( s )+UQG (s)

=
R(s)
1+QG(s)

(b) From equation

T

Sa =

dlnT N D
=S S
dln a a

We have got
T

S G=

dlnT N D
=S S
dlnG G G

Here

S NG =1

And
D

SG =

Q
1+QG(s)

So,
T

S G=S G SG =1

Q
1
=
1+QG ( s ) 1+QG ( s )

From this equation it is concluded that sensitivity doesnt depend upon M(s) or U(s).
P4.5

The closed loop transfer function is

T ( s )=

G 1 G(s)
1+G1 G(s)

(a) Sensitivity of T(s) to change in Ka is given by

T

S Ka =

1
1+G 1 G(s)

(b) Transfer function from

( s )=

G ( s)
T (s)
1+G1 G ( s ) d

(s )

due to disturbance is

T d ( s ) (s)

can be found by taking R(s)=0

E ( s )= ( s )

So steady state error can be found as

sE ( s )= lim s
s 0

G ( s ) 10
=10/k a
1+G1 G ( s ) s

e ss=lim
s 0

But desired steady state error is

e ss=

0.10
=0.00175 rad
180

Comparing both steady state errors we got

k a 5730
(c) Open loop transfer function is

( s )=G ( s ) T d ( s )
So steady state error is given by

10
=
s
sE ( s )=lim
sG ( s )

s 0

e ss =lim
s 0

P4.6

Closed loop transfer function from V(s) to R(s) is found by neglecting disturbance

T ( s )=

G 1 G(s)
1+G1 G(s)

(a) The sensitivity is found as

( 1 s+1 )( 2 s+1 )
1
=
1+G1 G ( s ) ( 1 s+1 )( 2 s+1 ) +k 1 k e

S TKe =

(b) Finding transfer function from Td(s) to V(s)

V ( s )=

k g G ( s )
T d (s)
1+G1 G ( s )

This shown that the load torque has effect on speed

(c) For input

R ( s )=

30 and
k 1 k e 1
s

we are interested to find where the car stalls that

V(s)=0
Using final value theorem

lim s
s 0

k g G ( s ) d
G1 G ( s ) 30
k g ke
k k
+lim s
=
( d )+30( 1 e )
1+k 1 k e
1+G1 G ( s ) s s 0 1+G1 G ( s ) s 1+k 1 k e

k 1 k e 1

Since

V ss = d

) (

so we have

kg
+30
k1

()

Since we are interested to find the conditions where Vss=0 so putting Vss=0 we have

30 k 1
(1)
kg

( )

d=

Given that

kg
=2
k1

()

Putting in equation 1 we have

d=15 gradewill stallthe car

P4.7

Let

G1 ( s ) =k 1
G2 ( s ) =

k2
s ( s +1 )

And

H ( s )=k 3 +k 4 s
Then transfer function from

T L ( s ) Y (s)

is

G2 (s)
Y (s)
=
T L (s) 1+G1 G2 H (s)
Y ( s )=

k2
s ( s+1 ) +k 1 k 2 ( k 3 +k 4 s )

T L (s)

(b) The sensitivity if closed loop function with respect to K2 is

S TK 2=
T

S K 2=

1
1+G1 G2 H ( s )
1
s ( s+1 ) +k 1 k 2 ( k 3 +k 4 s )

(c) Error is given by

E ( s )=R ( s )T ( s ) R ( s )

Given step input

R ( s )=1/s
So steady state error is found by

1
1
s ( 1T ( s ) ) = 1T ( s=0 )=1
s
k3
e ss =lim
s0

P4.8

(a) Closed loop transfer function is given by

T ( s )=

KG ( s )
0.1 s+1+K G ( s )

Sensitivity is found by
2

(0.1 s+1)(s +20 s+180)

1
S =
=
1+G c G(s) ( 0.1 s+1 ) ( s2 +20 s+180 ) +180 K
T
K

(b) By taking R(s) =0 we can find closed loop transfer function from Td(s) to Y(s) as shown
below

Y (s)
180(0.1 s+1)
=
T d (s) ( 0.1 s+1 ) ( s 2+20 s+180 ) +180 K
P4.9
(a) taking derivate of R with respect to i we have

dR 0.201 R
=
di (i0.005)3 /2

When

i=

v out =35volts

we have

35
=0.007 A
5000

At this operating point from figure below it is estimated that

R 20K

Figure 1 : figure P4.9

Using R=20K we have
4

dR 0.40210
=
=45 K/ma
di 0.896104
The transfer function around this operating point is

T ( s )=

V out (s)
K
K
=
=
V (s) ( s +1 ) +K (9 I ) s +1+9 KI

The photo sensor block diagram is shown below

(b) The sensitivity of system with respect to K is

T

SK =

s+1
s+1+9 KI

P4.10
The block diagram of paper tension control is shown below

(c) Solving this block diagram for closed loop transfer function

2 Km
2 Km
s (s+1)
T c ( s )=
= 2
4 K mk 2
s +s +4 K m k 2 /k 1
1+
k 1 s(s+1)
Sensitivity if closed loop function with respect to Km is found as

S TKcm=

s(s+1)
s2 +s+4 K m k 2 /k 1

(d) The transfer function from

T ( s )=

V 1 ( s ) T ( s )

is

1
1
V 1 (s)=
V 1 (s)
4 K m k2
4 Km k 2
1+
s+
k 1 s ( s+1 )
k 1 ( s+1 )

For step input

V 1 ( s )= A/ s

We got

T (s)=

(s+1) A
4K k
s( s 2+s+ m 2 )
k1

Using final value theorem

A k 1
4 km k2
e ss =lim

sT ( s )=

s 0

DP4.1

(a) The closed loop transfer function from disturbance to the output speed os

(s )
s
= 2
T d ( s ) s +4 s+K
For unit step disturbance, using final value theorem

e ss=lim

s0

s
1
. =0
s +4 s+K s
2

This means that load disturbance has no effect on steady state

(b) For different values of K (10

K 25

And suitable value of K=18 is selected.

step responses are plotted as shown in figure below