A robotic manipulator together with a cascade PI controller has a transfer function (Low, 2005) Assume the

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A robotic manipulator together with a cascade PI controller has a transfer function (Low, 2005)

Assume the robot’s joint will be controlled in the configuration shown in Figure P8.3.

a. Find the value of K_I that will result in e_ss = 2% for a parabolic input.

b. Using the value of K_I found in Part a, plot the root locus of the system as a function of K_P.

c. Find the value of KP that will result in a real pole at -1. Find the location of the other two poles.

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Control Systems Engineering

ISBN: 9781118170519

7th Edition

Authors: Norman S. Nise

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Question Posted: Jan 17, 2021 11:53 PM

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A robotic manipulator together with a cascade PI controller has a transfer function (Low, 2005) Assume the

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K1 G(s) = (Kp 48, 500 %3D s2 + 2.89s

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Control Systems Engineering

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