E5.

2 The engine, body, and tires of a racing vehicle affect the acceleration

and speed attainable. The speed control of the car is represented by the

model shown in Figure E5.2. (a) Calculate the steady-state error of the car

to a step command in speed. (b) Calculate overshoot of the speed to a step

command.

Engine and tires

Figure E5.2 Racing car speed control.

E5.4 A feedback system with negative unity feedback has a loop transfer

function

2( s + 8)
L( s )  Gc ( s )G ( s )  .
s ( s + 4)

(a) Determine the closed-loop transfer function T(s) = Y(s)/R(s). (b) Find

the time response, y(t), for a step input r(t) = A for t > 0. (c) Determine the

percent overshoot of the response. (d) Using the final-value theorem,

determine the steady-state value of y(t).

E5.9 A unity negative feedback control system has the loop transfer

function
K
L( s)  Gc ( s)G ( s)  .
s(s + 2 K )

(a) Determine the percent overshoot and settling time (using a 2% settling

criterion) due to a unit step input.

(b) For what range of K is the settling time is Ts  1 s?

the steady-state error for a step and a ramp input when

10 ( s + 5)
G (s)  .
s ( s + 2)( s + 4)( s + 6)

Figure E5.11 Unity feedback system.

E5.13 For the system with unity feedback shown in Figure E5.11,

determine the steady-state error for a step and a ramp input when
20
G( s)  .
s + 14 s + 50
2

E5.18 A system is shown in Figure E5.18(a). The response to a unit step,

when K = 1, is shown in Figure E5.18(b). Determine the value of K so that

the steady-state error is equal to zero.

Figure E5.18 Feedback system with prefilter.

P5.1 An important problem for television systems is the jumping or

wobbling of the picture due to the movement of the camera. This effect

occurs when the camera is mounted in a moving truck or airplane. The

Dynalens system has been designed to reduce the effect of rapid scanning

motion; see Figure P5.1. A maximum scanning motion of 25°/s is expected.

Let Kg = Kt = 1 and assume that g is negligible. (a) Determine the error of

steady-state error is allowable. (c) The motor time constant is m = 0.40 s.

Determine the necessary loop gain so that the settling time (to within 2%

of the final value of vb) is Ts  0.03 s.

Figure P5.1 Camera wobble control.

P5.7 Astronaut Bruce McCandless II took the first untethered walk in space

on February 7,1984, using the gas-jet propulsion device illustrated in

Figure P5.7(a). The controller can be represented by a gain K2, as shown in

Figure P5.7(b). The moment of inertia of the equipment and astronaut is I

= 25 kg m2. (a) Determine the necessary gain K3 to maintain a steady-state

error equal to 1 cm when the input is a unit ramp. (b) With this gain K3,

determine the necessary gain K1K2 in order to restrict the percent overshoot

to P.O.  10%.

Figure P5.7 (a) Astronaut Bruce McCandless II is shown a few meters away from the
earth-orbiting space shuttle. He used a nitrogenpropelled hand-controlled device
called the manned maneuvering unit. (b) Block diagram.
P5.8 Photovoltaic arrays generate a DC voltage that can be used to drive

DC motors or that can be converted to AC power and added to the

distribution network. It is desirable to maintain the power out of the array

at its maximum available as the solar incidence changes during the day.

One such closed-loop system is shown in Figure P5.8. The transfer function

for the process is

K
G( s)  ,
s+5

where K = 25. Find (a) the time constant of the closed-loop system, and (b)

the settling time to within 2% of the final value of the system to a unit step

disturbance.
Disturbance
Td(s)

R(s) Integrator
Slope of + - P(s)
1
power curve G(s) Power
s +
at maximum - output
power
Differentiator

Figure P5.8 Solar cell control.