Exercise 5.12 Let H s

 Kes G s

 K
es 

sTs and Gd s



G s H s

 The measurement device for the output has transfer function Gm s



es The unit for time is seconds The nominal parameter values are K  

   s K
  
  s and T   s

a Assume all variables have been appropriately scaled Is the plant inputoutput controllable

b What is the eect on controllability of changing one model parameter at a time in the following ways

  is reduced to  s

 
is reduced to  s

 K is reduced to 

 K
is reduced to 

 T is increased to  s