Answer Happy

The tunnel boring machine, shown in the figure below also known as a "mole", is a machine used to excavate tunnels with a circular cross section through a variety of soil and rock strata. The machine is deployed in big infrastructure projects. Its control system is modelled in the block diagram shown. The output angle Y(s) is desired to follow the reference R(s) regardless of the disturbance To(s). Ta(s) G(s) G(s) Controller Boring machine R(s) Desired Eg(s) 1 Y(s) K+ 11s s(s+1) Angle angle The output due to the two inputs is obtained as Y(s) = K+113 3²+12s+K -R(s) + 1 ²+123+K Td (s) Thus, to reduce the effect of the disturbance, we wish to set a greater value for the gain K. Calculate the steady-state error of the control system when the reference and the disturbance and both unit step inputs. 11/K O-1/K