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CH4

E4.2 A digital audio system is designed to min imize the effect of disturbances and noise
as shown in Figure E4.2. As an approximation, we may represent G ( s ) = K 2 .

( a ) Calculate the sensitivity of the system due to K 2 . ( b ) Calculate the effect of the disturbance noise Td ( s ) on V0 . ( c ) What value would you select for K1 to min imize the effect of

the disturbance?

sol :

( a ) The system sensitivity to K 2 is


T = SK 2

1 T K 2 = K 2 T 1 + K1 K 2

( b ) The transfer function from Td ( s ) to Vo ( s ) is


Vo ( s ) = K2 Td ( s ) 1 + K1 K 2

( c )We would select K1 1, so that the transfer function from Td ( s ) to Vo ( s ) is small.

E4.3
A closed loop system is used to track the sun to obtain max imum power from a photovoltaic array. The tracking system may be represented by Figure 4.3 = with H ( s ) 1= and G( s ) 100 S +1 where = 4 sec onds no min ally, ( a ) Calculate the sensitivity of this system for a small change in . ( b ) Calculate the time cons tan t of the closed - loop system response.
sol : (a) The system sensitivity to is given by
T G ST = SG S

In this case, we have


T SG =

(b) The closed - loop transfer function is 100 G (s) 100 0.99 101 = T (s) = = = 4 1 + GH ( s ) 4 s + 101 s +1 cs + 1 101 where the time - cons tan t = 4 = 0.0396 sec ond . 101

1 1 4 s +1 = = 1 + GH( s ) 1 + 100 4 s + 101 4s + 1

where = 4. Therefore, s 4 s = SG = s + 1 4s + 1 ST = 4 s 4 s + 101

P4.13
One form of a closed - loop transfer function is T (s) = G1 ( s ) + KG2 ( s ) G3 ( s ) + KG4 ( s )

(a)

Use Equation (4.16) to show that


T = Sk

k ( G2G3 G1G4 ) ( G1 + kG2 )( G3 + kG4 )

(b)
sol :

Deter min e the sensitivity of the system shown in Figure P4.13, u sin g the equation verified in part ( a ) .

(a)

Let N ( s ) = G1 ( s ) + kG2 ( s ) and Td ( s ) = G3 ( s ) + kG4 ( s ) . Then


T = Sk

kG2 kG4 N k D k = = k N k D G1 + kG2 G3 + kG4


MG ( s ) + kUG ( s ) G1 + kG2 = 1 + kGH ( s ) G3 + kG4

k ( G2G3 G1G4 ) ( G1 + kG2 )( G3 + kG4 )


k (UG ( s ) MG 2 H ( s ) )

(b)

The closed - loop transfer function is T (s)

Then u sin g result from ( a ) , we have S =


T k

( MG ( s ) + kUG ( s ) ) (1 + kGH ( s ) )

CP4.9
Consider the closed - loop system in Figure CP4.8 ,whose transfer function is 10 s 5 = G (s) = and H ( s ) s + 100 s + 50 Y (s) and the unit step response; (a ) Obtain the closed - loop transfer function T ( s ) = R (s) = that is, let R ( s ) 1 = and assume that N( s ) s 0.

(b) Obtain the disturbance response when N ( s ) =

100 is a sin usoidal input of s 2 + 100 frequency to = 10 rad / s. Assume that R ( s ) = 0. In the steady - state, what is the frequency and peak magnitude of the disturbance response from part (b) ?

(c)

sol :

10 s 2 + 500 s ) ( G (s) = T (s) = 2 1 + GH ( s ) s + 200 s + 5000 = Y (s) G (s) (10s + 500 ) = R (s) 1 + GH ( s ) s 2 + 200 s + 5000

(a)

The closed - loop transfer function is

(b)

The response of the system to the sin usoidal disturbance 50 s ( s + 100 )( s + 50 ) + 50s

10 s 5 Y (s) GH ( s ) s + 100 s + 50 = = = N ( s ) 1 + GH ( s ) 1 + 10 s 5 s + 100 s + 50 50 s 100 Y (s) s 2 + 200 s + 5000 s 2 + 100

(c)

10 = sec/ m, peak magnitude 0.0095

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