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**Unformatted text preview: **4. Consider the two systems shown below. First, find Gc(s) so that these two systems are
equivalent. That exercise should help you answer the following questions. Give the correct
response, either better or worse.
D ( S )
y ( / Go(s ) Gp ( s ) + Dess
R (S)
G1(s)
Gp ( 5 )
Y (s )
Rest 1 + ( Wes) +/ Go ( s) sp (s ) mes )
HI(s)
N (S )
Gels ) =
1 + G. (s ) # , (3 )
D(S)
R(S)
+
+
Go (S )
Gp (S)
/ 6
N(s)
(a) As Hi(s) gets larger, the rejection of the disturbance D(s) gets better or worse?
(b) As Hi(s) gets larger, the ability for Y(s) to follow R(s) gets better or worse?
(c) Let Hi(s) be small, then as Gi(s) gets larger the elimination of the senor noise gets better
or worse?
(d) Let Hi(s) be, small, then as Gi(s) gets larger the sensitivity of the closed-loop transfer
functions to changes in the plant gets better or worse?
(20 points)
5. A DC-motor speed control is described by the differential equation
y+ 60y =600v -1500w
where y is the motor speed, Va is the armature voltage, and w is the load torque. Assume the
armature voltage is computed using the PI control law
Va = - ( K , y + K, Jydt)
Please compute the transfer function from w to y as a function of Kp and K. (10 points)...

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- Fall '19
- Dr. Jiann-Shiou Yang