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Q1 Q2 A control system is described by the block diagram in Figure 1 where R(s) is reference input and Y(s) is system output. (a) Find the transfer function Y(s)/R(s) using block diagram reduction. (b) Determine the steady state output in response to the unit step input. R(s) + + S 5 -~ $2 1 Y(s) 2s s² +2 Figure 1 A PID controller is designed to control the robot leg, and the control system is shown in Figure 2 where K is a positive gain. (a) Find the closed-loop transfer function (s)/R(s). (b) Use the Routh-Hurwitz stability criterion to determine the range of the parameter K such that the closed-loop system is stable. (s) 2 K 1+-+s s² + 3s+2 S R(s) PID Controller Robot Leg dynamics Figure 2

Q1 Q2 A control system is described by the block diagram in Figure 1 where R(s) is reference input and Y(s) is system output. (a) Find the transfer function Y(s)/R(s) using block diagram reduction. (b) Determine the steady state output in response to the unit step input. R(s) + + S 5 -~ $2 1 Y(s) 2s s² +2 Figure 1 A PID controller is designed to control the robot leg, and the control system is shown in Figure 2 where K is a positive gain. (a) Find the closed-loop transfer function (s)/R(s). (b) Use the Routh-Hurwitz stability criterion to determine the range of the parameter K such that the closed-loop system is stable. (s) 2 K 1+-+s s² + 3s+2 S R(s) PID Controller Robot Leg dynamics Figure 2

Introductory Circuit Analysis (13th Edition)
Introductory Circuit Analysis (13th Edition)
13th Edition
ISBN:9780133923605
Author:Robert L. Boylestad
Publisher:Robert L. Boylestad
Chapter1: Introduction
Section: Chapter Questions
Problem 1P: Visit your local library (at school or home) and describe the extent to which it provides literature...
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Q1 Q2 A control system is described by the block diagram in Figure 1 where R(s) is reference input and Y(s) is system output. (a) Find the transfer function Y(s)/R(s) using block diagram reduction. (b) Determine the steady state output in response to the unit step input. R(s) + + S 5 -~ $2 1 Y(s) 2s s² +2 Figure 1 A PID controller is designed to control the robot leg, and the control system is shown in Figure 2 where K is a positive gain. (a) Find the closed-loop transfer function (s)/R(s). (b) Use the Routh-Hurwitz stability criterion to determine the range of the parameter K such that the closed-loop system is stable. (s) 2 K 1+-+s s² + 3s+2 S R(s) PID Controller Robot Leg dynamics Figure 2
Transcribed Image Text:Q1 Q2 A control system is described by the block diagram in Figure 1 where R(s) is reference input and Y(s) is system output. (a) Find the transfer function Y(s)/R(s) using block diagram reduction. (b) Determine the steady state output in response to the unit step input. R(s) + + S 5 -~ $2 1 Y(s) 2s s² +2 Figure 1 A PID controller is designed to control the robot leg, and the control system is shown in Figure 2 where K is a positive gain. (a) Find the closed-loop transfer function (s)/R(s). (b) Use the Routh-Hurwitz stability criterion to determine the range of the parameter K such that the closed-loop system is stable. (s) 2 K 1+-+s s² + 3s+2 S R(s) PID Controller Robot Leg dynamics Figure 2
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