Figure P11.35 a is the circuit diagram of a speed-control system in which the dc motor voltage
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Figure P11.35 b is a diagram of a feedback system for controlling the speed by measuring it with a tachometer and varying the voltage uf. Use the following values in SI units.
Lf = 0.2 Rf = 2 Kt = 1
La = 0.2 Ra = 1 Kb = KT = 0.5
Kf = 50 I = 10 c = 20
Develop a state variable model of the plant that includes the generator, the motor, and the load. Include the load torque TL as a disturbance.
Develop a proportional controller assuming all the state variables can be measured. Analyze its steady-state error for a step command input and for a step disturbance.
Figure P11.35
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