NASA is planning many Mars missions with rover vehicles. A typical rover is a solar-powered vehicle which will see where it is going with TV cameras and will measure distance to objects with laser range finders. It will be able to climb a 30° slope in dry sand and will carry a spectrometer that can determine the chemical composition of surface rocks. It will be controlled remotely from Earth. For the model of the position control system shown in Figure AP9.5, determine the gain K that maximizes the phase margin. Determine the overshoot for a step input with the selected gain.

FIGURE AP9.5 Position control system of a Mars rover.

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Controller Plant K(s 0.4) R(s)