MAE 5303 HW #3

Spring 2017
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Figure 1: Block Diagram Reduction.

1. Determine C/R for each system shown in Figure 1,

Figure 2: Block Diagram Reduction.

2. The two systems given in Figure 2 have the same transfer function when K1 = K2 =
100. Compare the sensitivities of these two systems with respect to parameter K1
for nominal values K1 = K2 = 100. Which one is the most sensitive to changes in
K1 or are they both the same?
3. Derive the Closed Loop System CE for a P+I+D controller with unity feedback
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with a plant of P = s( s+1) . Recall the P+I+D controller Gc = Kc (1 + D s + 1i s )
4. A robotic arm and camera could be used to pick fruit. The camera is used to
close the feedback loop to a microcomputer, which controls the arm. The transfer
K
function for the process is G(s) = (s+3)2 . Calculate the expected steady-state error

of the gripper for a step command A as a function of K.

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5. Given a desired damping ratio, = .6, and 2% criteria settling time Ts = 3.0
seconds for a second order time domain response due to a unit step, compute the
specifications of peak time Tp , rise time TR , peak magnitude, and percent overshoot
assuming a steady state value of zero with respect to the unit step input. Finally,
given these attributes, what is the settling time to within 5%?