Measurement devices and their dynamics influence the design of feedback controllers. Briefly indicate which of the two systems below would have its closed-loop performance enhanced significantly by application of cascade control (see Fig. 16.4 for notation and assume G_p2 = 1 and G_d1= G_p1). Using the controller settings shown below, evaluate the effect of a unit step disturbance in D₂on both systems A and B

All time constants are in minutes.

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System A System B G, = 5 G, = 5 Gp1 Gpi 10s +1 10s +1 2 0.5 Gm2 Gm2 5s +1 0.5s +1 0.2 Gml ml 5s + 1 5s + 1 K = 0.5 K = 2.5 T1 = 15 T1 = 15 K2 = 1.0 K2 = 0.25 D2 D1 G42 Ga1 Primary controller Secondary controller Y1 E2 Gc2 Y2 Gp1 YS E1 sp2 Gy Gp2 sp1 Km1 Gel Ym2 Gm2 Yml Gm1 Figure 16.4 Block diagram of the cascade control system.