ME 451: Control Systems Assigned: Feb 27, 2008

Fall 2007 Due: Mar 12, 2008

Homework 5: Control System Characteristics

Due: Mar 12, 2008

Problem 1.
Submersibles with clear plastic hulls have the potential to revolutionize underwater leisure. One
small submersible vehicle has a depth-controlled system as shown in Figure 1.
a) Determine the closed -loop transfer function T (s) = Y (s)/R(s).
b) Determine the sensitivity SK T and S T
1 K
c) Determine the steady state error due to a disturbance D(s) = 1/s
d) Calculate the response y(t) for a unit step input R(s) = 1/s when K1 = K2 = 1 and 1 < K < 10.
What value of K1 would result in fastest response?

Figure 1: Depth Control System

Problem 2. Consider the feedback control system shown in Figure 2.

a) Determine the steady-state error for a step input in terms of the gain K.
b) Plot the overshoot for the response for 40 K 400

Figure 2: Feedback control System

Problem 3. Problem 5.15 parts a) to e) of text book.

Problem 4. Problem 5.21 of text book.

Homework 5: Control System Characteristics Page 1 of 1