Answer Happy

E Question 3 (25 marks) In the feedback system shown in Figure Q3, the controller and the plant have the following transfer functions respectively: Gls) >0 and G, (s) (5+1)(3+2)(3+3) Answer the following for this feedback configuration: a) Calculate the closed-loop transfer function (5 marks] b) By using the Routh-Hurwitz criterion find the values of the controller gain K such that the closed-loop system is BIBO stable. [10 marks] c) Compute the steady-state error to a unit step reference input as a function of the controller gain K. [5 marks] y assume now a Pi controllere 6,169=,(1475 is used instead of the constant gain K. a Calculate the steady-state error to a unit step reference input. Is your result in agreement with the internal model principle"? [5 marks] Ris) Els Y(s) Gls) Gis) Figure Q3: Unity feedback system