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 plant dynamics are represented by

The percentage overshoot for a step input should be less than 20% with a rise time less than second and a settling time (with a 2% criterion) less than 1.2 seconds.
Also, we desire that for a ramp input Kn ‰¥.
Determine a suitable lead compensator.

Transcribed Image Text:

250 G(s)- s(s t 2)(s 40) ( 45)