7.

1 Find the steady-state errors for the following test inputs: 25𝑢(𝑡), 37𝑡𝑢(𝑡), 42𝑡 2 𝑢(𝑡) for the
unity feedback system

𝑅(𝑠) 𝐸(𝑠) 𝐶(𝑠)

𝐺(𝑠) 450(𝑠 + 8)(𝑠 + 12)(𝑠 + 15)
𝐺(𝑠) =
𝑠(𝑠 + 38)(𝑠 2 + 2𝑠 + 28)

Solution
• 25𝑢(𝑡) or 25/𝑠:
1 25
𝑒step (∞) = 25 × = =0
1 + lim 𝐺(𝑠) 1 + ∞
𝑠→0
• 37𝑡𝑢(𝑡) or 37/𝑠 : 2

1 37
𝑒ramp (∞) = 37 × = = 0.06
lim 𝑠𝐺(𝑠) 609
𝑠→0
• 42𝑡 2 𝑢(𝑡) or 84/𝑠 3 :
1 84
𝑒parabola (∞) = 84 × = =∞
lim 𝑠 2 𝐺(𝑠) 0
𝑠→0

7.6 An input of 25𝑡 3 𝑢(𝑡) is applied to the input of a Type 3 unity feedback system, as shown in
the figure, where

𝑅(𝑠) 𝐸(𝑠) 𝐶(𝑠)

𝐺(𝑠) 210(𝑠 + 4)(𝑠 + 6)(𝑠 + 11)(𝑠 + 13)
𝐺(𝑠) =
𝑠 3 (𝑠 + 7)(𝑠 + 14)(𝑠 + 19)

Solution
25𝑡 3 𝑢(𝑡) or 150/𝑠 4
𝑅(𝑠)
𝐸(𝑠) =
1 + 𝐺(𝑠)
𝑠𝑅(𝑠) 𝑠(150/𝑠 4 ) 150
⇒ 𝑒(∞) = lim = lim = = 0.39
𝑠→0 1 + 𝐺(𝑠) 𝑠→0 210(𝑠 + 4)(𝑠 + 6)(𝑠 + 11)(𝑠 + 13) 387
1+
𝑠 3 (𝑠 + 7)(𝑠 + 14)(𝑠 + 19)
7.11 Given the unity feedback system shown in the figure, where
𝑅(𝑠) 𝐸(𝑠) 𝐶(𝑠)
𝐺(𝑠) 100500(𝑠 + 5)(𝑠 + 14)(𝑠 + 23)
𝐺(𝑠) =
𝑠(𝑠 + 27)(𝑠 + 𝛼)(𝑠 + 33)

Find the value of 𝛼 to yield a 𝐾𝑣 = 25000

Solution
100500 × 5 × 14 × 23
𝐾𝑣 = lim 𝑠𝐺(𝑠) = = 25000 → 𝛼 ≈ 7.26
𝑠→0 27 × 33 × 𝛼
7.16 What are the restrictions on the feedforward TF 𝐺2 (𝑠) in the system of the figure to obtain
zero steady-state error for step inputs if 𝐺1 (𝑠) is a
𝐺2 (𝑠)

𝑅(𝑠) 𝐸(𝑠) 20 𝐶(𝑠)

𝐺1 (𝑠)
𝑠(𝑠 + 3)

a. Type 0 TF
b. Type 1 TF
c. Type 2 TF
Solution
We have:
𝐸(𝑠) = 𝑅(𝑠) − 𝐶(𝑠)
20
𝐶(𝑠) = (𝑅(𝑠)𝐺2 (𝑠) + 𝐸(𝑠)𝐺1 (𝑠))
𝑠(𝑠 + 3)
20
𝐸(𝑠) 1 − 𝑠(𝑠 + 3) 𝐺2 (𝑠) 𝑠(𝑠 + 3) − 20𝐺2 (𝑠)
→ = =
𝑅(𝑠) 1 + 20 𝐺 (𝑠) 𝑠(𝑠 + 3) + 20𝐺1 (𝑠)
𝑠(𝑠 + 3) 1
With 𝑅(𝑠) = 1/𝑠:
𝐺2 (𝑠)
𝑒(∞) = lim 𝑠𝐸(𝑠) = lim −
𝑠→0 𝑠→0 𝐺1 (𝑠)
a. 𝑮𝟏 (𝒔) is Type 0 TF
If 𝐺1 (𝑠) is Type 0, it is required that 𝐺2 (𝑠) = 0
b. 𝑮𝟏 (𝒔) is Type 1 TF
If 𝐺1 (𝑠) is Type 1, it is required that 𝐺2 (𝑠) is Type 0
c. 𝑮𝟏 (𝒔) is Type 2 TF
If 𝐺1 (𝑠) is Type 2, it is required that 𝐺2 (𝑠) is Type 1
7.22 The unity feedback system of the figure, where
𝑅(𝑠) 𝐸(𝑠) 𝐶(𝑠)
𝐺(𝑠) 𝐾(𝑠 2 + 3𝑠 + 30)
𝐺(𝑠) =
𝑠 𝑛 (𝑠 + 5)

is to have 1/6000 error between an input of 10𝑡𝑢(𝑡) and the output is the steady state
a. Find 𝐾 and 𝑛 to meet the specification
b. What are 𝐾𝑝 , 𝐾𝑣 , and 𝐾𝑎
Solution
a.
The system has error with the ramp input 10/𝑠 2 , so the system must be Type 1 → 𝑛 = 1
1 10 1
𝑒ramp (∞) = 10 × = = → 𝐾 = 10000
lim 𝑠𝐺(𝑠) 6𝐾 6000
𝑠→0
b.
𝐾𝑝 = lim 𝐺(𝑠) = ∞
𝑠→0
 𝐾𝑣 = lim 𝑠𝐺(𝑠) = 60000
𝑠→0
𝐾𝑎 = lim 𝑠 2 𝐺(𝑠) = 0
𝑠→0
7.30 Given the unity feedback control system of the figure, where
𝑅(𝑠) 𝐸(𝑠) 𝐶(𝑠)
𝐺(𝑠) 𝐾
𝐺(𝑠) =
𝑠 𝑛 (𝑠+ 𝑎)

find the values of 𝑛, 𝐾, and 𝑎 in order to meet specifications of 12% overshoot and 𝐾𝑣 = 110
Solution
The system has error with the ramp input, so the system must be Type 1 → 𝑛 = 1
The velocity constant:
𝐾
𝐾𝑣 = lim 𝑠𝐺(𝑠) = = 110
𝑠→0 𝑎
The closed-loop transfer function:
𝐾 110𝑎
𝑇(𝑠) = 2 = 2
𝑠 + 𝑎𝑠 + 𝐾 𝑠 + 𝑎𝑠 + 110𝑎
% Overshoot:
2
%𝑂𝑆 = 𝑒 −𝜁𝜋/√1−𝜁 = 0.12 → 𝜁 = 0.56
𝑎 √𝑎
→𝜁= = = 0.56 → 𝑎 = 137.98
2√110𝑎 2√110
→ 𝐾 = 110𝑎 = 110 × 137.98 = 15177.8
7.35 The system of the figure is to have the following specifications: 𝐾𝑣 = 10, 𝜁 = 0.5
𝜃𝑖 (𝑠) 𝐸(𝑠) 10 𝜃𝑜 (𝑠)
𝐾1
𝑠(𝑠 + 1)

𝐾𝑓 𝑠

Find the values of 𝐾1 and 𝐾𝑓 require for the specifications of the system to be met
Solution
The forward transfer function:
10𝐾1
𝐺(𝑠) =
𝑠[𝑠 + (10𝐾𝑓 + 1)]
The closed-loop transfer function:
10𝐾1
𝑇(𝑠) =
𝑠 2 + (10𝐾𝑓 + 1)𝑠 + 10𝐾1
We have:
10𝐾1
𝐾𝑣 = lim 𝑠𝐺(𝑠) = = 10 → 𝐾1 = 10𝐾𝑓 + 1 (1)
𝑠→0 10𝐾𝑓 + 1
10𝐾𝑓 + 1
𝜁= = 0.5 → 100𝐾𝑓2 + 20𝐾𝑓 = 10𝐾1 − 1 (2)
2√10𝐾1
From (1)(2):
100𝐾𝑓2 − 80𝐾𝑓 − 9 = 0 → 𝐾𝑓 = 0.9
→ 𝐾1 = 10𝐾𝑓 + 1 = 10