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Unformatted text preview: angle), y H is the gain of the speedometer, and r H is input scaling factor. a s A + and a s B + represent the vehicle speed dynamics as a first order system. (a) Find the transfer functions from W ( s ) to Y ( s ) and from R ( s ) to Y ( s ). (b) Assume the desired speed is a constant reference r , so that s r s R ) ( = . Assume that the road is level, so ) ( = t w . What are the conditions on the gains K , r H and y H to guarantee that ) ( lim r t y t = . Include both the openloop (assuming = y H ) and feedback cases ( y H ) in your discussion. (c) Assume that a constant grade disturbance s w s W ) ( = is present in addition to the reference input. Using the same gains as in part (b), what is the steadystate speed of the car ) ( lim t y t ? Include both the open loop and feedback cases....
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 Fall '10
 Meckle
 Natural Frequency

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