Question: A model of an automobile driver attempting to steer a course is shown in Figure P9.18, where K = 6.0. (a) Find the frequency response

A model of an automobile driver attempting to steer a course is shown in Figure P9.18, where K = 6.0. 

FIGURE P9.18 R(S) Desired course Predicted course Steering S Predictor s+0.75s +0.35

(a) Find the frequency response and the gain and phase margins when the reaction time T = 0. 

(b) Find the phase margin when the reaction time is T = 0.15 s.

(c) Find the reaction time that will cause the system to be borderline stable (P M. . = 0°).

FIGURE P9.18 R(S) Desired course Predicted course Steering S Predictor s+0.75s +0.35 Driver Auto K s Auto Lateral displacement

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