A machine tool is designed to follow a desired path so that
r(t) = (1 - t)u(t),
where u(t) is the unit step function. The machine tool control system is shown in Figure AP4.3.
(a) Determine the steady-state error when r(t) is the desired path as given and Td(s) = 0.
(b) Plot the error e(t) for the desired path for part (a) for 0 (c) If the desired input is r(t) = 0, find the steady-state error when Td(s) = l/s.
(d) Plot the error e(t) for part (c) for 0 Figure AP4.3
Machine tool feedback.

Load effect Ts) Motor and tool 10 s(s 5) Controller R(s) Tool command Y(s) Tool position 4 2s