Consider the control system of Problem 71. Use MATLAB to evaluate the following performance measures: energy consumption, maximum current, maximum speed error, rms current, and rms speed error.
In Problem 71
KT = Kb = 0.04 N.m/A
cm = 0
cL = 10-3 N-m s/rad
Ra = 0.6Ω
La = 2 x 10-3 H
lm = 2 x 10-5
lt = 10-5
lL. = 4 x 10-3 kg-m2:
N = 1.5
Ka = 5 V/V
Ktach = 10 V/(rad/s)
Kpot = 5 V/rad
Kd = 2 rad/(rad/s)