assignment 7

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 and H(s) = 1,

(a) 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).

(b) Use the phase margin to estimate the damping ratio and predict the overshoot.

(c) (c) Calculate the actual damping ratio 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.

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