matlab and simulink 12 labs and every lab 4 questions

Tutorials No 9

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 bearing angle of the robot is controlled using a proportional

plus integral negative feedback control, where the proportional and integral gains of

the controller are defined as Kp and Ki respectively, and the open loop transfer

function of the HelpMate transport robot is given by, ( )

( )( )( )

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

proportional plus integral negative feedback control.

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

III. Create a Simulink model of the closed loop robotic control system and

examine the system response to a unit step change in the set point input for

various values of Kp and Ki where,

1. The system is stable

2. The system is at the limit of stability

3. The system is unstable

[NB: You may use trial and error method to select appropriate values of Kp

and Ki that satisfies the conditions given in 1-3 ]