线性控制系统工程（华中科技大学）M8-Homework.pdfVIP

Linear Control Systems Engineering Homework Solutions—Module8 According to the textbook, the default meaning of “error” for non-unity feedback is the so-called true error E(=R-C). Therefore, if you want to apply Table 8.1 in this case, you will have to convert the non-unity feedback system into its equivalent unity feedback form, then determine the system type and error coefficients based upon G’(s). But we have learned that a more appropriate definition of error should be Ea(=R-HC), called actuating error in the textbook. To calculate actuating error, there is no need to distinguish between unity feedback and non-unity feedback cases, because system type and error coefficients for Ea are always based upon the open-loop TF, which takes form of G(s) in unity feedback systems, and GH(s) in non-unity feedback systems. 8.3 Solution (For “true error”:) Method 1: Find the open-loop TF of the equivalent unity-feedback system. ′ G 10(1+ s) G (s) = = 3 2 (type 0 system) 1+ G(H − 1) s + 3s − 3s + 5 ′ 10 ⇒ = = = K p lim G (s) 2 s →0 5 1 1 ⇒ = = e ss 1+ K 3 p Method 2: Calculate directly using equation 8.59 and FVT (Final Value Theorem). E 1+ G(H − 1) s 3 + 3s 2 − 3s + 5 = = R 1+ GH s 3 + 3s 2 + 7s + 15 s 3 + 3s 2 − 3s + 5 1 1 ⇒ess = lim sE (s) = s ⋅ 3 2 ⋅ = s →0 s + 3s + 7s + 15 s 3 (For “actuating error”:) Method 1: The open-loop TF is 10 GH (s) = 2 (type 0 system) (s + 2s + 5)(1+ s)