Question: In Example 10.7.4 the steady-state error for a unit-ramp disturbance is 1/KI.For the gains computed in that example, this error is 1 /25. We want

In Example 10.7.4 the steady-state error for a unit-ramp disturbance is 1/KI.For the gains computed in that example, this error is 1 /25. We want to see if we can make this error smaller by increasing KI. Using the values given for Kp and KD in that example, obtain a root locus plot with KI as the variable. Discuss what happens to the damping ratio and time constant of the dominant root as KI is increased.

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The characteristic equation is 10s 3 2 KDs 2 K P s K I 0 With K P 55 ... View full answer

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