DP6.2 An automatically guided vehicle on Mars is rep

resented by the system in Figure DP6.2. The system has a steerable wheel in both the front and back of the vehicle, and the design requires that H s( ) = + Ks 1.

Determine

(a) the value of K required for stability,

(b) the value of K when one root of the character

istic equation is equal to s = −1, and

(c) the value of the two remaining roots for the gain selected in

part (b).

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

FIGURE DP6.2 Mars guided vehicle control. R(s) Steering command 10 s+2 H(s) Y(s) Direction of travel