The Bell-Boeing V-22 Osprey Tilt rotor is both an airplane and a helicopter. Its advantage is the ability to rotate its engines to 90° from a vertical position for takeoffs and landings as shown in Figure P7.33(a), and then to switch the engines to a horizontal position for cruising as an airplane [20]. The altitude control system in the helicopter mode is shown in Figure P7.33(b).
(a) Determine the root locus as K varies and determine the range of K for a stable system.
(b) For K = 280, find the actual y(t) for a unit step input r(t) and the percentage overshoot and settling time (with a 2% criterion).
(c) When K = 280 and r(t) = 0, find y(t) for a unit step disturbance, Td(s) = 1/s.
(d) Add a prefilter between R(s) and the summing node so that

and repeat part (b).
Figure P7.33
(a) Osprey Tiltrotor aircraft,
(b) Its control system.

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