Question No.3 (CL04-PLO4 [C6], 15 marks) The block diagram in Figure 3 represents the control system...

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Question No.3 (CL04-PLO4 [C6], 15 marks) The block diagram in Figure 3 represents the control system of self-guiding vehicle's bearing angle control. a) Design a lead compensator for the system such that closed-loop step response of the system yields 10% overshoot and settling time of 1.5 s. The transfer function of the lead controller is Ge(s) = koTo make the design simple place the zero of the lead controller at such a place that it makes an angle of 60 at the desired location. Moreover, the overall transfer function of the plant is the product of the transfer functions of steering angle and vehicle dynamics. b) What would be the steady state error with respect to step reference input? Controller Steering Angle Vehicle Dynamics Desired bearing Actual bearing angle G) 50 +10-50 angle 3(8-5) Useful formulae: < = In(%OS/100) +In (%05/100) Figure 3 4 T = (wn Question No.3 (CL04-PLO4 [C6], 15 marks) The block diagram in Figure 3 represents the control system of self-guiding vehicle's bearing angle control. a) Design a lead compensator for the system such that closed-loop step response of the system yields 10% overshoot and settling time of 1.5 s. The transfer function of the lead controller is Ge(s) = koTo make the design simple place the zero of the lead controller at such a place that it makes an angle of 60 at the desired location. Moreover, the overall transfer function of the plant is the product of the transfer functions of steering angle and vehicle dynamics. b) What would be the steady state error with respect to step reference input? Controller Steering Angle Vehicle Dynamics Desired bearing Actual bearing angle G) 50 +10-50 angle 3(8-5) Useful formulae: < = In(%OS/100) +In (%05/100) Figure 3 4 T = (wn