A welding torch is remotely controlled to achieve high accuracy while operating in changing and hazardous environments [21]. A model of the welding arm position control is shown in Figure DP7.4, with the disturbance representing the environmental changes.
(a) With Td(s) = 0, select K1 and K to provide high-quality performance of the position control system. Select a set of performance criteria, and examine the results of your design.
(b) For the system in part (a), let R(s) = 0 and determine the effect of a unit step Td(s) = 1/s by obtaining y(t).
Figure DP7.4
Remotely controlled welder.

TAAs) Process 10 s(s 10) Controller K 001s) s) R(s) K1s