spring2005q2-with_figure

# spring2005q2-with_figure - ME 132 Spring 2005 Quiz 2...

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ME 132, Spring 2005, Quiz 2 Name: # 1 18 # 2 32 TOTAL 80 NOTE: Any unmarked summing junctions are positively signed (+). 1

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1. Consider the closed loop system shown below. The transfer function for the controller is C ( s ) = s + 25 3 s (1) The transfer function for the process is P ( s ) = 3 s + 5 (2) (a) What is the closed loop transfer function from r to y ? (b) What is the closed loop transfer function from d to y ? 2
CP y(t) e(t) - u(t) ±(t) + d(t)

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(c) Assume all initial conditions are zero. Suppose that the reference input, r , is a unit step function, and the disturbance input, d is identically zero. Shown below are several possible responses for the output variable y . Only one of them is correct. Clearly mark the correct one. (Show work/reasoning on next page). 0 2 4 6 0 0.5 1 1.5 Step Response Time (sec) Amplitude 0 0.5 1 1.5 0 0.5 1 1.5 Step Response Time (sec) 0 0.5 1 1.5 0 0.5 1 1.5 Step Response Time (sec) 0 0.1 0.2 0.3 0 0.5 1 1.5 Step Response Time (sec) 0 2 4 6 0 0.5 1 1.5 2 Step Response Time (sec) 0 0.1 0.2 0.3 0 0.5 1 1.5 Step Response Time (sec) 3
(d) Assume all initial conditions are zero. Suppose that the disturbance input, d

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## This note was uploaded on 08/01/2008 for the course ME 132 taught by Professor Tomizuka during the Spring '08 term at Berkeley.

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spring2005q2-with_figure - ME 132 Spring 2005 Quiz 2...

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