Consider the three dimensional shown. This problem was first introduced in DP5.7. The control of x may

Question:

Consider the three dimensional shown. This problem was first introduced in DP5.7. The control of x may be achieved with a DC motor and position feedback of the form shown, with the DC motor and load represented by

where 1 ‰¤ K ‰¤ 3 and 1 ‰¤ p ‰¤ 3. Normally K = 2.5 and p = 2. Design an ITAE system with a PID controller so that the peak time response to a step input is less than 3 seconds for the worst-case performance.