Retune an observer for a lower bandwidth. a. Open Experiment 10G and retune the system starting with KDO 0.05, KPO 0, and KIO

Retune an observer for a lower bandwidth.

a. Open Experiment 10G and retune the system starting with KDO ζ 0.05, KPO ζ 0, and KIO ζ 0. For limits allow 15% overshoot with KPO and slight ringing with KIO. 

b. What is the bandwidth of the observer?

c. Using Experiment 10C, place the values of part a in the observer and see the effect on command response.

 Evaluate settling time and compare to results with original observer gains (see Question 1c).

DATA FROM QUESTION 1C

c. Repeat parts a and b using the observer-based system of Experiment 10C.

Solver < > 0.001 TSample M TSample Command Dsa 60 10000 KPO KIO R 4- < > 0.1 Scale1: 0.5 Time: 0.005 KDO R Eo Yo 50 Gco KEst GpEst GsEst Delay R