5.17. A unity feedback system has an open-loop transfer function G(s) = 1/s(s+25) For unit-step input, compute the follo

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5 17 A Unity Feedback System Has An Open Loop Transfer Function G S 1 S S 25 For Unit Step Input Compute The Follo 1 (186.04 KiB) Viewed 26 times

5.17. A unity feedback system has an open-loop transfer function G(s) = 1/s(s+25) For unit-step input, compute the following: (a) ISE = √e²(t) dt; (b) ITSE = Ste 0 te²(t) dt Calculate the optimal values of 5> 0 which minimize ISE and ITSE respectively. What are the minimum values of the performance indices ? 5.18. Consider a robot joint control system as shown in Fig. 5.39. Various parameters are: J = 5 kg-m², F = 500 N-m/rad/s Km (motor torque constant) = 2.5 N-m/amp (a) Calculate the steady-state error in position of the load, if a sudden disturbance torque of 2N-m is applied with (s) = 0 (b) If a reference step input is now applied, calculate the total error in position. (c) Choose K and K, such that the error in positioning is less than 5 degrees. 5.19. The block diagram of a control system is shown in Fig. P-5.19 (a) Identify the state variable of this system. (6) Formulate the state variable model and obtain its state transition matrix. Also obtain the output variable for a unit step input.