Question

2. There are two PD control-systems as shown in Fig. 2. Assuming time constants (T 1/???) are 2 (sec) and the damping ratios (3) are 1 (a) Find ?(s)s of the PD control-systems by using Ta and a, (b) Evaluate the values for Kp and KD for each system. (c) Compute the errors for each system with the ramp input (a,-1/s2) and the zero disturbance (Td0) (d) As the input is the unit-step input and the disturbance is zero, compare the signals (T(t)) for each system d (s) o,(s) + E(s) T(s) e (s) Kp KDS s(10s 2) Fig. 2 (a) Td(s) 10s 2 Fig. 2 (b)

Answer 1

tiwe Cousta.ti (tr I/n) oe L (sa Td(s) T[S X SloSt) S(A0512) S (loSt2) (os)

e(s) Tuu chaaclenisfic ejuation' lo Co-poti*g above eon. . 2. KD (ti 白

E(s): θ' ( s)-θ(s) tos'+ s (2+ko)+kp Steady Stak eo E SECS) TS): los+2 toS+2

2 ナ (2sti) 2 (2Sf) 2StI T(s) 2 2 St 2. 5t 036 e I- .36 AnS