Question: In Example 10.8.3 the steady-state error for a unit-ramp command is -4/KI. For the gains computed in that example, this error is 1 /1000. We

In Example 10.8.3 the steady-state error for a unit-ramp command is -4/KI. For the gains computed in that example, this error is 1 /1000. 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 K1 as the variable. Discuss what happens to the damping ratio and time constant of the dominant root as K1 is increased.

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The characteristic equation is s 3 K D s 2 K P 4sK I 0 With K P 604 and K ... View full answer

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