Question: Consider the cascade control system in Fig. E. (a) Specify K c2 so that the gain margin ?1.7 and phase margin ?30 ? for the

Consider the cascade control system in Fig. E.

(a) Specify Kc2 so that the gain margin ?1.7 and phase margin ?30 ? for the slave loop.

(b) Then specify and Kc1 and ?I?for the master loop using the Ziegler-Nichols tuning relation.

(2a+1X5s + 1) 10s +1 s+1

(2a+1X5s + 1) 10s +1 s+1

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