Assignment 2 Solutions
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It can be seen that there is a disturbance due to q(external) at 200s, so the system stabilizes itself
after it. Now after some time, when there is internal disturbance in H2, the system settles down
to a lower value, and the effect can be seen in H1.
Linear Vs Non-linear Response in H1
It can be seen that the H1 settles at 16.8 cm, since after a disturbance in H2 at 500s, the system
stabilizes at this point. For non-linear, the settling time is more, i.e. it settles at a much larger
time than the linear model.
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The conclusion is that the two degree of freedom control is much better than one degree of
freedom.
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