Autonomozts, self-driven veh·icles can be used in warehouses, airports, and many other applications. These vehicles follow a wire embedded in the floor and adjust the steerable front wheel in order to maintain proper direction. The sensing coils, mounted on the fmnl wheel assembly, detect an errm· ·in the direction of travel and adjust the steering. The overall control systen1. open-loop transfer function is K

DG(s) = ( )2 ss+?T s(s/?T + 1) 2 ·

It is desired to have a bandwidth of the closed-loop system exceed 2?Trad/ s.

(a) Set Kv = 2?T and sketch the Bode diagram.

(b) Using the Bode diagram, obtain the logarithmic-magnitude vs. phase angle curve.

Problem