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I plan to determine the open/close loop transfer function of the attached motor. I have been able to combine K(s) to 1/s in series but am not too sure of how to add up 12/pi outside the summing junction and what to use as the gain(either tetha 0/teta 1 or teta 0/V1(s).

Also how to use this to determine the closed loop of the system enter image description here

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Start by putting some equations on it: -

schematic

simulate this circuit – Schematic created using CircuitLab

The output of A is called Vout, but clearly ....

\$V_{out} = A(V_{in} - B\cdot V_{out})\$

This boils down to \$\dfrac{V_{out}}{V_{in}} = \dfrac{A}{1+AB} \$

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  • \$\begingroup\$ Thanks Andy, In finding the forward path for the open loop I have added 12/pi that is not in the feedback path. does that look ok. \$\endgroup\$ – Shittu Olalekan Dec 23 '15 at 21:36
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1.) Together with the first block (12/Pi) and Andy aka`s answer you will be able to find the closed-loop transfer function.

2.) The open-loop function is the product of all forward blocks (without the feedback path). This expression should not be confused with the "loop gain" which is simply the product A*B (using Andy aka`s notation)-

3.) The full closed-loop gain is defined as the ratio of two angles (tetha,0/teta,i).

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  • \$\begingroup\$ LvW, Going by your second comment, for the open loop transfer function, all the forward function including 12/pi with input(teta i) & output(Vi(s)). Thats what I've done before posting the diagram. \$\endgroup\$ – Shittu Olalekan Dec 23 '15 at 21:31
  • \$\begingroup\$ Whats a unity negative feedback? \$\endgroup\$ – Shittu Olalekan Dec 23 '15 at 21:51
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The relation between open loop F(s) and closed loop H(s) is H(s)=F(s)/1+F(s) if and only if the feedback is 1. In your case the feedbak is 12/pi, but also the setpoint is multiplied with same, so the solution of your homework is: - find how to move the feedback into the loop and make feedback =1, then some coeficient will cancell out and use the formula openv vs. closed loop with fbck=1

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  • \$\begingroup\$ Quote: "....find how to move the feedback into the loop and make feedback =1"...My comment: For which purpose such an unnecessary procedure? \$\endgroup\$ – LvW Dec 24 '15 at 8:36
  • \$\begingroup\$ @LvW Because this is a classic exercise at univeristy, and two same gains 12/pi are pointing that professor wants exactly that thing. \$\endgroup\$ – Marko Buršič Dec 24 '15 at 17:14
  • \$\begingroup\$ Ahhh - yes, this could be the case. \$\endgroup\$ – LvW Dec 25 '15 at 8:25

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