A mobile robot using a vision system as the measurement device is shown in Figure DP7.7(a) [36].
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G(s) = 1 / (s + 1)(0.5s + 1).
and Gc(.f) is selected as a PI controller so that the steady-state error for a step input is equal to zero. We then have
Design the PI controller so that
(a) The percent overshoot for a step input is P.O. ¤ 5%;
(b) The settling time (with a 2% criterion) is Ts ¤ 6 seconds;
(c) The system velocity error constant Kv > 0.9; and
(d) The peak time, Tp, for a step input is minimized.
Figure DP7.7
(a) A robot and vision system.
(b) Feedback control system.
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