A simplified model of the steering of a four-wheel drive vehicle is shown in Figure P7.26. In
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A simplified model of the steering of a four-wheel drive vehicle is shown in Figure P7.26.
In this block diagram, the output r is the vehicle’s yaw rate, while δf and δr are the steering angles of the front and rear tires, respectively. In this model,
and K(s) is a controller to be designed. (Yin, 2007).
a. Assuming a step input for δf , find the minimum system type of the controller K(s) necessary so that in steady-state the error, as defined by the signal e in Figure P7.26, is zero if at all possible.
b. Assuming a step input for δf , find the system type of the controller K(s) necessary so that in steady state the error as defined by δf (∞) - r(∞) is zero if at all possible.
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