Question: Consider the speed control system using I control with internal feedback shown in Figure 10.6.6, where I = 15 and c = 5. The desired

Consider the speed control system using I control with internal feedback shown in Figure 10.6.6, where I = 15 and c = 5. The desired time constant is τ = 0.5.
a. Compute the required values of the gains for the following three sets of root locations.
1. s = -2, -20 (root separation factor is 10)
2. s = -2, -10 (root separation factor is 5)
3. s = -2, -4 (root separation factor is 2)
b. Use a computer method to plot the response of the speed ω(t) for a unit-step command for each of the cases in part (a). Discuss the effects of the root separation factor on the rise time, the overshoot, and the maximum required torque.

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