An electro hydraulic actuator is used to actuate large loads for a robot manipulator. The system is subjected to a step input, and we desire the steady-state error to be minimized. However, we wish to keep the overshoot less than 10%. Let T = 0.8 s.
(a) Select the gain K when Gc(s) - K, and determine the resulting overshoot, settling time (with a 2% criterion), and steady-state error, (b) Repeat part (a) when Gc(s) = Ki + K2/s by selecting K1 and K2. Sketch the Nichols chart for the selected gains K1 and K2.