DP7.12 A rover vehicle designed for use on other plan

ets and moons is shown in Figure DP7.12

(a) [21]. The block diagram of the steering control is shown in Figure DP7.12(b).

(a) Sketch the root locus as K varies from 0 to 10000. Find the roots for K equal to 1000, 1500, and 2500. Predict the overshoot, settling time

(with a 2% criterion), and steady-state error for a step input, assuming dominant roots.

(c) Determine the ac

tual time response for a step input for the three values of the gain K, and compare the actual results with the predicted results. 

FIGURE DP7.12 (a) Planetary rover vehicle. (b) Steering control system. R(s) K (a) s+1 (s+2)(s+3)(s+6)(s+10) Y(s) Steering angle (b)