(Solved): Figure 1 shows the general form of a closed loop system where the output isfeedback through a functi ...

Figure 1 shows the general form of a closed loop system where the output is
feedback through a function H(s), this is the general structure being the feedback
unitary a particular case of closed loop control systems.

In this case, the signal resulting from the summation point is not that of the error, but is called the signal.
of current error, in case you want to know the error E(s) you have to restructure the system
so that it has unitary feedback as long as the signals c(t) and r(t) are
of the same magnitude.
A mathematical procedure is carried out to restructure the system and in order to facilitate
For this procedure, a function must be implemented in MATLAB that allows automating the
calculations. The function must have the following elements as arguments:

• Direct path function: G(s)
• Feedback function: H(s)

The function does not return any value, but must return the following information:

• Direct path transfer function resulting from the feedback system
unitary
• System type with unitary feedback
• Static position error constant
• Position error
• Static speed error constant
• Speed error
• Static acceleration error constant
• Acceleration error

You can check the operation of the function implemented with the system that is
shown in figure 2:

• System type 0
• kp=0.33 / ep=0.75
• kv=0 / ev=infinity
• ka=0 / ea=infinity