Consider the two-loop system of Fig. P5.3-7. The gain K is used to give the inner loop

Question:

Consider the two-loop system of Fig. P5.3-7. The gain K is used to give the inner loop certain specified characteristics. Then the controller D(z) is designed to compensate the entire system. The input R(z) is generated within the computer, and thus does not exist as a continuous signal. Solve for C(z). R(z) + Computer D(z) K 1-8-7's S T T Gpi(s) Gp2(s) C(s)