Example 1

Example 2
G( s )

8
2

3s 3.6s 12

Example 3

Example 4

Example 5

E(s)

( s 1)(0.5s 1)
s4
( s s 10)(0.5s 1) ( s 1)(10 2s ) s( s 2)
E ( s ) C ( s ) H ( s )
( s 1)(0.5s 1)
s4
1
2
s
(
s

2
)
0
.
5
s 1
( s s 10)(0.5s 1) ( s 1)(10 2s )

We have C ( s )

(s 1)(0.5s 1)
s4
1

e ss lim sE ( s ) lim 2
s 0
s 0
( s s 10)(0.5s 1) ( s 1)(10 2s ) s 2 0.5s 1

0.1

Example 6

Answer:

(a). This is a unity-feedback system. G( s )

10
, so the system is a Type 1
s(0.1s 1)

system
10
C (s )
10
100
s(0.1 s 1)

2
2
10
R( s ) 1
0.1 s s 10 s 10s 100
s(0.1 s 1)
n2 100 , 2n 10 , n 10 , 0.5

(b) We assume Gc ( s ) K , so we have

1
C (s )
1
10
s(0.1s 1)

2
K
D( s ) 1
s(0.1s 1) K s 10 s 10 K
s(0.1s 1)
10
10
E ( s ) C ( s ) 2
D( s )
2
s 10s 10 K
s s 10s 10 K
10
1
ess lim sE ( s ) lim 2
=-0.1
s 0
s 0 s 10 s 10 K
K

(c) One can increase K to decrease the effect of the disturbance at D(s) on the output at
C(s) at the steady-state.