An automatically g?tided vehicle on Mars is represented by the following figure.

R(s) +®---I 10 I ~Y(s) Steering_ Ll 1 S+iO . S2 Direction command oftravel

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Mars Vehicle Control Sys/.em The system has a steerable wheel in both the fmnt and back of the vehicle, and the design requires that H ( s) = K s + 1. Determine

(a) the value of K required for stability,

(b) the value of K when one root of the characteristic equation is equal to s = -5,

(c) the value of the two remaining roots for the gain in part (b).

(d) Find the response of the system to a step command for the gain selected in part (b).
Problem