The block diagram of a control system of a joint in a robot arm is shown in Fig. P6.2-7. This system is discussed in Section 1.6. Let T = 0.1 s and D(z) = 1 .

(a) Evaluate C(z) if the input is to command a 20°C step in the output and K = 10. Note that the system input must be a step function with an amplitude 1.4 V. Why?

(b) Assuming the system to be stable, find the steady-state system output.

(c) Find the (approximate) time required for the system response to reach steady state.

Transcribed Image Text:

T Controller D(z) Volts Zero-order hold Power amplifier K Volts Sensor 0.07 Ea Servomotor 200 s (0.5 s + 1) Gears 100 150