In Figure P7.16, let G(s) = 5 and P(s) = 7/s + 2.

a. Calculate the steady-state error due to a command input R(s) = 3/s with D(s) = 0.

b. Verify the result of Part a using Simulink.

c. Calculate the steady-state error due to a disturbance input D(s) = -1/s with R(s) = 0.

d. Verify the result of Part c using Simulink.

e. Calculate the total steady-state error due to a command input R(s) = 3/s and a disturbance D(s) = -1/s applied simultaneously.

f. Verify the result of Part e using Simulink.

Transcribed Image Text:

D(s) R(s) + C(s) G(s) P(s) FIGURE P7.16