P12.2 Consider the control system is shown in Figure P12.2, where 1 = 10 ms and 2 = 1 ms. (a) Select K

P12.2 Consider the control system is shown in Figure P12.2, where τ1 = 10 ms and τ2 = 1 ms.

(a) Select K so that Mpω = 1.39.

(b) Plot 20 log T j ( ) ω and 20 log S j T K ( ) ω on one Bode plot.

(c) Evaluate S j T K ( ) ω at ω ω B B , /2, and ωB/4.

(d) Let

R s( ) = 0, and determine the effect of T s d ( ) = 1 s 

for the gain K of part

(a) by plotting y t( ). 

FIGURE P12.2 Remote-controlled TV camera. R(s) 0 K +1 T(s) 1 Y(s) s(725+1)