DP7.7 A mobile robot using a vision system as the mea

surement device is shown in Figure DP7.7

(a) [36]. The control system is shown in Figure DP7.7(b). Design the controller so that

(a) the percent overshoot for a step input is P O. . ≤ 5%;

(b) the settling time (with a 2% criterion) is Ts ≤ 6 s;

(c) the system velocity error constant Kv > 0.9; and

(d) the peak time, TP, for a step input is minimized. 

Motion subsystem Recognition subsystem Object environment Controller Ea(s) Kps+K R(s) S FIGURE DP7.7 (a) A robot and vision system. (b) Feedback control system. Computer (a) Plant (b) 1 (s + 1)(0.5s+1) Y(s)