Concept:
If G(s) is the open-loop transfer function then the closed-loop transfer function with feedback H(s) is written as:
\(CLTF = \frac{{G\left( s \right)}}{{1 + G\left( s \right)H\left( s \right)}}\)
for negative feedback and
\(CLTF = \frac{{G\left( s \right)}}{{1 - G\left( s \right)H\left( s \right)}}\)
for the positive feedback.
The time constant form of system is represented as:
\(G\left( s \right) = \frac{{k\left( {1 + s{\tau _1}} \right)\left( {1 + s{\tau _2}} \right) \cdots \cdots }}{{{s^n}\left( {1 + s{\tau _a}} \right)\left( {1 + s{\tau _b}} \right) \cdots \cdots }}\)
If \(G\left( s \right) = \frac{k}{{s + a}}\)
and time-domain signal with respect to this is:
e-at and corresponding time constant is 1/a
The time constant for the RC circuit is:
τ = ReqCeq. Req, and Ceq are found by de-energizing the independent sources.
De energizing the Independent sources
Voltage source: Replace this by a short circuit since its internal resistance is zero.
Current source: Replace this by an open circuit since its internal resistance is ∞
The time constant of RL circuit is:
\(\tau = \frac{{{L_{eq}}}}{{{R_{eq}}}}\)
Calculation:
Given the open-loop transfer function is:
\(G\left( s \right) = \frac{{10{k_a}}}{{1 + 10s}}\)
\( = \frac{{{k_a}}}{{s + \frac{1}{{10}}}}\)
By taking the inverse Laplace transform we get
\(g\left( t \right) = {e^{ - \frac{t}{{10}}}}\)
Comparing with the standard form
Ae-t/τ we get
τol = 0.1
We obtain the closed-loop transfer function for the given system as:
\(H\left( s \right) = \frac{{10{k_a}}}{{1 + 10s + 10{k_a}}}\)
\(H\left( s \right) = \frac{{{k_a}}}{{s + \left( {{k_a} + \frac{1}{{10}}} \right)}}\)
By taking inverse Laplace transform, we get
\(h\left( t \right) = {k_a}{e^{ - \left( {{k_a} + \frac{1}{{10}}t} \right)}}\)
the time constant of the closed-loop system is obtained as
\({\tau _{cl}} = \frac{1}{{{k_a} + \frac{1}{{10}}}}\)
\({\tau _{cl}} = ; \approx \frac{1}{{{k_a}}}\)
Now given that Ka reduces open loop time constant by a factor of 100
\({\tau _{cl}} = \frac{{{\tau _{ol}}}}{{100}}\)
\(\frac{1}{{{k_a}}} = \frac{{10}}{{100}} = \frac{1}{{10}}\)
Ka = 10