Question

1) AP 10.8 AP10.8 The Manutec robot has large inertia and arm length resulting in a challenging control problem, as shown in Figure AP10.8(a). The block diagram model of the system is shown in Figure AP10.8(b). The percentage overshoot for a step input should be P.O. $\leq$ 20% with a rise time of $T_r \leq \frac{1}{2}s$ and a set- tling time (with a 2% criterion) of $T_s \leq$ 1.2s. Also, we desire that for a ramp input $K_v \geq$ 10. Determine a suit- able phase-lead compensator.

          1) AP 10.8
AP10.8 The Manutec robot has large inertia and arm
length resulting in a challenging control problem, as
shown in Figure AP10.8(a). The block diagram model
of the system is shown in Figure AP10.8(b).
The percentage overshoot for a step input should
be P.O. $\leq$ 20% with a rise time of $T_r \leq \frac{1}{2}s$ and a set-
tling time (with a 2% criterion) of $T_s \leq$ 1.2s. Also, we
desire that for a ramp input $K_v \geq$ 10. Determine a suit-
able phase-lead compensator.

$1) AP 10.8 AP10.8 The Manutec robot has large inertia and arm length resulting in a challenging control problem, as shown in Figure AP10.8(a). The block diagram model of the system is shown in Figure AP10.8(b). The percentage overshoot for a step input should be P.O. ≤ 20% with a rise time of $Tr \leq \frac{1}{2}s$ and a set- tling time (with a 2% criterion) of $Ts \leq$ 1.2s. Also, we desire that for a ramp input Kv ≥ 10. Determine a suit- able phase-lead compensator.$

Added by Jeremy M.

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