Design a PID controller applied to the motor torque T to control the robot arm angle (
Question:
Gp (s) = ( (s) / T (s) = 4 / 3s2 + 3
The dominant closed-loop roots must have ( = 0.5 and a time constant of 1.
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The characteristic equation is 1 G c s G p s 0 which becomes or ...View the full answer
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