A remote manipulator control system has unity feedback and a loop transfer function We want the steady state position error for a step input to be less than or equal to 10 of the magnitude of the input Sketch the root locus as a function of the parameter Icirc plusmn Determine the range of Icirc plusmn required for the desired steady state error Locate the roots for the allowable value of Icirc plusmn to achieve the required steady state error, and estimate the step response of the system (s )

Question: A remote manipulator control system has unity feedback and a loop transfer function We want the steady-state position error for a step input to be

A remote manipulator control system has unity feedback and a loop transfer function

We want the steady-state position error for a step input to be less than or equal to 10% of the magnitude of the input. Sketch the root locus as a function of the parameter Î±. Determine the range of Î± required for the desired steady-state error. Locate the roots for the allowable value of Î± to achieve the required steady-state error, and estimate the step response of the system.

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