Question: You are given the motor whose transfer function is shown in Figure P9.8(a). a. If this motor were the forward transfer function of a unity

You are given the motor whose transfer function is shown in Figure P9.8(a).

Eds) 25 s(s + 2) (a) Amplifier Motor Ris) + E(s) 25

a. If this motor were the forward transfer function of a unity feedback system, calculate the percent overshoot and settling time that could be expected.

b. You want to improve the closed-loop response. Since the motor constants cannot be changed and you cannot use a different motor, an amplifier and tachometer are inserted into the loop as shown in Figure P9.8(b). Find the values of K₁ and K_f to yield a percent overshoot of 15% and a settling time of 0.5 second.

c. Evaluate the steady-state error specifications for both the uncompensated and the compensated systems.

Eds) 25 s(s + 2) (a) Amplifier Motor Ris) + E(s) 25 Cs) K1 s(s + 2) Tachometer Kes (b) FIGURE P9.8

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