Consider the system shown in Figure Plot the root loci with MATLAB. Locate the closed-loop poles when the gain K is set equal to 2. K(s+1) s(s²+25+6) Figure Repeat with Nyquist chart on Matlab to verify your result
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- Q5 Hydraulic power actuators were used to drive the dinosaurs of the movie Jurassic Park. The motions of the large monsters required high-power actuators requiring 1200 watts. One specific limb motion has dynamics represented by: y = [0 1] Design the state feedback gain matrix using the Ackermann's formula method. Where the new closed loop poles to be placed at s1,2 =-17j3.Draw the signal flow graph of the following block diagram, then find the transfer function using Mason's rule R a G₁ H₁ H₂ G₂ +nk int m The spring-mass-system shown in the figure has the following parameters: spring constant k = 4 N/m; mass m 6 %3D kg and the constant n = 1.6. M is the corresponding mass-matrix of the system. V1 and V2 are the eigenvectors associated with the smallest and largest natural frequencies of the system, respectively. If V,TV, = 1 and V2 V2 = 1, then what is value of V,™MV2 (in kg)? Answer:
- Figure 1 shows an electrical system comprising a series RLC circuit and input voltagesource ein(t).(a) Derive the input-output equation with output y = I and input u = ein(t). (b) Using the derived input-output equation, drive the system transfer function G(s)that relates output to input. Use the following numerical values for the electrical systemparameters: resistance R = 2Ω, inductance L = 0.25H, and capacitance C = 0.4F. (c) Using the derived transfer function, derive the time-domain ordinary differentialequation for the input-output equation of this electrical system. (d) Draw the complete block diagram of this series RLC circuit using the derived transferfunction.For the following open loop transfer functions, identify the correct Bode plot from the Bode plots given below: Bode Plots: Magnitude (dB) Phase (deg) O 50 -100 -50 -150 -90 0 -135 -180 Magnitude (dB) a 225 Phase (deg) -270 -20 10:2 -40 -60 -80 -100 0 -90 -180 G(s) = -270 Transfer function: a. 1 10-1 101 O b. 2 O c. 3 O d. 4 S Bode Diagram 10° Frequency (rad/s) Bode Diagram (₁² +s+2)(x² +58 + Frequency (rad/s) s+16) 101 10¹ 10² % 2) Magnitude (dB) Phase (deg) Magnitude (dB) Phase (deg) 50 -50 -100 -45 -90 -135 -180 10/2 -60 -80 -100 -120 90 0 -90 -180 -270 10:2 10¹ 10" Bode Diagram 10° Frequency (rad/s) Bode Diagram 10° Frequency (rad/s) 10¹ 101 10² 102In matlab
- Solve the inverse kinematic problem for the following 6 DOF robot, using the method ofkinematic decouplingif it is known that its Denavit-Hartenberg parameters are as shown in the table inthe tableFor the following open loop transfer functions, identify the correct Bode plot from the Bode plots given below: Bode Plots: 1) 3) Magnitude (dB) (Bap) eseyd 50 0 -100 -50 -150 -90 -135 -180 Magnitude (dB) -225 Phase (deg) -270 1012 -20 -40 -60 -80 -100 0 -90 -180 -270 G(s) = 10-1 Transfer function: 10 O a. 1 O b. 2 O c. 3 O d. 4 16 Bode Diagram TOP Frequency (rad/s) Bode Diagram (s+4)(s² +1.65+4) 101 Frequency (rad/s) 10 Њ 10² 10² N + Magnitude (dB) Phase (deg) Magnitude (dB) Phase (deg) 50 -50 -100 -45 -90 -135 -180 10:12 -20 -40 -60 -80 -100 -120 90 0 -90 -180 -270 1012 10 10 Bode Diagram 10² Frequency (rad/s) Bode Diagram 10² Frequency (rad/s) 10 10¹ 10² 10²1. Use Mason's rule to find the transfer function of the signal-flow diagram shown in figure below: G.S) Gy (s) C (s ) RCS) फेड