matlab and simulink 12 labs and every lab 4 questions

Tutorials No 8

All working and MATLAB programs to be kept/typed up in Microsoft Word, which

would be submitted on 31/03/2017

A HelpMate transport robot with a transfer function, H(s), is used to deliver goods in

a hospital setting. The robot can deliver food, drugs, laboratory materials, and patient

records. The bearing angle of the robot is controlled using a proportional only

negative feedback control, where the proportional gain is Kp and

( )

( )( )

I. Draw the block diagram of the closed loop robotic control system with

proportional only negative feedback control.

II. Derive the closed loop transfer function of the robotic control system.

III. Determine whether the closed loop robotic control system is stable or

unstable for the following values of proportional gain, Kp,

1. 105  xK p

2. 8.98 p

K

3. 11023.0 23  xxK

p

where x is the last digit of your student number.

[NB: Show all of your calculations made]

IV. Using MATLAB or Simulink, examine the robotic control system response to a

unit step change in the set point for the values of proportional gain ,Kp, given

in (iii). For each value of Kp, determine the steady state error from the system

response obtained and comment on the effect of changing Kp.

V. Using the final value theorem, show that the steady state errors obtained in

(IV) for the different values of Kp are correct. Comment on your answers.