CDP5.1 The capstan drive system of the previous prob

lems (see CDP1.1–CDP4.1) has a disturbance due to changes in the part that is being machined as material is removed. The controller is an amplifier

G s c a ( ) = K . Evaluate the effect of a unit step distur

bance, and determine the best value of the amplifier gain so that the percent overshoot to a step command

r t( ) = > A t , 0 is P O. . ≤ 5%, while reducing the ef

fect of the disturbance as much as possible.