Assignment
Instructions
Save this document and place your answers into it so you can submit it to the appropriate homework dropbox. Handwritten solutions should be scanned and saved as a BMP, GIF, or JPG image, or scanned and pasted into this document.
Questions
Solve the following problems:
1. For the given system
where G(s)=K/(s(s+0.2)) and H(s) = 1,
Determine the phase margin when K = 0.16 (you may use the function margin in MATLAB. Note: you need to use the open-loop transfer function, not closed-loop).
Use the phase margin to estimate the damping ratio ζ and predict the overshoot.
(c) Calculate the actual damping ratio ζ and the overshoot, and compare with the part (b) estimate.
2. Consider the system below:
Compute the loop transfer function L(s) (Product of all three blocks), and sketch the Bode plots when K=5. What are the gain and phase margin and is the system stable?
3. Consider the flexible robot arm system below:
Select K (trial and error) so that the system has the maximum phase margin.