hw6 - ECE 147A FEEDBACK CONTROL SYSTEMS - THEORY AND DESIGN...

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ECE 147A FEEDBACK CONTROL SYSTEMS - THEORY AND DESIGN F09 Homework 6 Due Friday, November 13th, 2009 Explain all answers! Problem 1 ( Inspired by Problem 2 of the midterm. ) Consider the plant given in Problem 2 of the midterm, i.e., P ( s ) = 6( s 2 + 4 s + 5) ( s + 1)( s + 2)( s + 3) and the closed-loop system arising from the unity negative feedback conFguration using a controller C ( s ), setting the reference signal to the constant r ( t ) = 4 and the input disturbance as d ( t ) = 3 cos(2 t ). 1. Simulate the closed-loop system using the controller you proposed on the midterm. (The grader won’t know what you proposed on the midterm, but there is no shame in being honest here. The point is to learn from mistakes.) Does the plant output converge asymptotically to the reference signal? Why or why not? 2. Simulate the closed-loop system using the controller proposed in the solution to the midterm. Does the plant output converge asymptotically to the reference signal? Explain why this is the case by explicitly forming the transfer function from reference to tracking error and the transfer function from disturbance to plant output and observing where on the
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hw6 - ECE 147A FEEDBACK CONTROL SYSTEMS - THEORY AND DESIGN...

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