Automatic guided vehicles are used in factories and warehouses to transport materials. They require a guide path in the floor and a control system for sensing the guide path and adjusting the steering wheels. Figure P12.28 is a block diagram of such a control system. Obtain the transfer function Gc (s) so that the step response has an overshoot no greater than 20% with a 2%
Figure P12.28

Settling time of no more than 1 s, and a steady-state unit-ramp error of no more than 0.1 m.

Transcribed Image Text:

Controller/ compensator Vehicle dynamics 0.02 X(s) Ge(s) GS)0.2s X0.1s Position Desired position Sensor