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Consider a small submarine prototype with a depth-control system illustrated in Figure Q.1.

Consider a small submarine prototype with a depth-control system illustrated in Figure Q.1.

Introductory Circuit Analysis (13th Edition)
Introductory Circuit Analysis (13th Edition)
13th Edition
ISBN:9780133923605
Author:Robert L. Boylestad
Publisher:Robert L. Boylestad
Chapter1: Introduction
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Consider a small submarine prototype with a depth-control system illustrated in Figure Q.1.

Disturbance Yis) R(s) Desired K depth E(s) K, Actual depth K2 Sensor K Fig. Ql
Transcribed Image Text:Disturbance Yis) R(s) Desired K depth E(s) K, Actual depth K2 Sensor K Fig. Ql
(a). Determine the closed-loop transfer function T(s) = Y(s)/R(s). (b). Determine the sensitivity S, and S. (c). Determine the steady-state error due to a disturbance Ta(s) = 1/s. (d). Calculate the response y(t) for a step input R(s) = 1/s when K = K2 = 1 and 2 < K, < 15. Select K1 for the fastest response.
Transcribed Image Text:(a). Determine the closed-loop transfer function T(s) = Y(s)/R(s). (b). Determine the sensitivity S, and S. (c). Determine the steady-state error due to a disturbance Ta(s) = 1/s. (d). Calculate the response y(t) for a step input R(s) = 1/s when K = K2 = 1 and 2 < K, < 15. Select K1 for the fastest response.
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