Computer control of a robot to spray-paint an automobile is accomplished by the system shown in Figure DP5.8(a) [7]. We wish to investigate the system when K = 1, 10, and 20. The feedback control block diagram is shown in Figure DP5.8(b).
(a) For the three values of K, determine the percent overshoot, the settling time (with a 2% criterion), and the steady-state error for a unit step input. Record your results in a table.
(b) Choose one of the three values of K that provides acceptable performance.
(c) For the value selected in part (b), determine y(t) for a disturbance Td(s) = 1/s when R(s) = 0.
Figure DP5.8
Spray-paint robot.

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