Question

A robot is programmed to have a tool or welding torch follow a prescribed path $[8,13]$. Consider a robot tool that is to follow a sawtooth path, as shown in Figure P5.6(a). The transfer function of the plant is $$ G(s)=\frac{75(s+1)}{s(s+5)(s+20)} $$ for the closed-loop system shown in Figure 5.6(b). Calculate the steady-state error.

    A robot is programmed to have a tool or welding torch follow a prescribed path $[8,13]$. Consider a robot tool that is to follow a sawtooth path, as shown in Figure P5.6(a). The transfer function of the plant is
$$
G(s)=\frac{75(s+1)}{s(s+5)(s+20)}
$$
for the closed-loop system shown in Figure 5.6(b). Calculate the steady-state error.

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Modern Control Systems

Modern Control Systems

Dorf 11th Edition

Chapter 5, Problem 6

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The type of the system is determined by the highest power of 's' in the denominator of the transfer function. Show more…

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A robot is programmed to have a tool or welding torch follow a prescribed path $[8,13]$. Consider a robot tool that is to follow a sawtooth path, as shown in Figure P5.6(a). The transfer function of the plant is $$ G(s)=\frac{75(s+1)}{s(s+5)(s+20)} $$ for the closed-loop system shown in Figure 5.6(b). Calculate the steady-state error.

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