Question: For the motorized cart, the transfer function for the heading angle for a given differential voltage, Va is given as: S(s) 4.5 G:(s)=-= Va(s)

For the motorized cart, the transfer function for the heading angle for a given differential voltage, Va is

For the motorized cart, the transfer function for the heading angle for a given differential voltage, Va is given as: S(s) 4.5 G:(s)=-= Va(s) s+6.9s A change is made to the gear ratio which results in a new transfer function: G:(s) = new(s) For each system, use MATLAB to generate the Bode plot and find the Delay Margin (seconds) and estimate the closed-loop bandwidth frequency (rad/s). Va(s) 13.35 s17.3s.

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