(a) Design a PI controller for Problem 8.6-4(b).
(b) Design a PD controller for Problem 8.6-4(c).
(c) Use the results of parts (a) and (b) to repeat Problem 8.6-4(d).

Problem 8.6-4(b) (c) (d)

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(b) Design a phase-lag controller with the dc gain of 10 that yields a system phase margin of 45. (c) Design a phase-lead controller with the de gain of 10 that yields a system phase margin of 45. (d) Using MATLAB, find the step response for the systems of parts (b) and (c), with 0,(t) = 0.05u(t). Compare the rise times and the percent overshoot for the two systems. The percent overshoot is defined as percent overshoot maximum value - final value X 100 final value Controller Power amplifer Servomotor Gears Zero-order Ea 200 Om 1 D(z) K hold s (0.5 s+1) 100 T Volts Volts Sensor 0.07