Question

5. In lecture, we have discussed a traditional PD control shown below. + R(s) K, +KAS G(s) C(s) In lab, we discussed a modified PD control law known as “Minor Loop Rate Feedback” below. R(s)- K G(s) C(s) Kas (a) Show that these two systems have the same closed-loop poles. (b) Do these systems also have identical step responses? (c) List the advantages/disadvantages of using each control architecture.

Answer 1

(a) 778 of furt system (1 RIS) (ke + Kas) Gls) It Gls) (Kotkas 1 + 1 stke (ket kas) Gls) ka [ {s + ke Jal) + 1/ (+ ) Gros es Kd GIS Pole :- Bure Tlf of second sylin s - + kd ķGls) Gls) I+Gls) Kas (Ls) RIS) 1 + Kp Cols) If Gls) Ids Kp Gls) +G(S) Kd s + kpl) Keath Genka [st ke & Grooked Pole :- B= (ke the sky

same closed Thus, both the poles. system have the loop Step respons of füst system, (16)= (kets Et tacco +1 kd Go Kpt als + file & Rd G I ka ka Glo) stret S ke + (1s) S ( GIS) (kpcl3+1 ) ( ouest talis Step response of sy second system, гі C(s) = kdfst ke at Gud ka) + kp/ka TH Kett 1 -ke sa corso Stkp L Ted Gls) Kd S (Ko tedes) (ket! Stke & f GCS) Kd Gls) Kd

No, step respons of the both the system is not same. .