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  3. 2 a consider the system shown in figure 020 with...

Question: 2 a consider the system shown in figure 020 with...

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2. a) Consider the system shown in Figure 020) with Pl control. 10Y s2+s+ 20 Figure Q2(a) (i) Determine the transfer function from R to Y. (ii) Determine (ii) Determine the range of kp and k, for which the system is stable. [4] (iv) Taking k,-kp-2, the transfer function (i) will have two complex the transfer function from w 121 conjugate poles with real part of-0.2484 (-ώη--0.2484). Based on proper calculation, discuss how the poles and the zero of the system will affect the time response of the system. 6 What are the system type and error constants with respect to reference tracking and with respect to disturbance rejection, respectively?[4] (v)

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