A very interesting and useful velocity control system has been designed for a wheelchair control system. We
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(a) Determine the limiting gain K = K1K2K3 for a stable system.
(b) When the gain K is set equal to one-third of the limiting value, determine whether the settling time (to within 2% of the final value of the system) is less than 4 s.
(c) Determine the value of gain that results in a system with a settling time of 4 s. Also, obtain the value of the roots of the characteristic equation when the settling time is equal to 4 s.
Figure P6.8
Wheelchair control system.
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