Question: Compare the rise time of observer- and non-observer-based systems to a step command. a. Open Experiment 10A and retune the system for reasonable margins of

Compare the rise time of observer- and non-observer-based systems to a step command.

a. Open Experiment 10A and retune the system for reasonable margins of stability (e.g., find maximum KP without overshoot and maximum KI for 30% overshoot to step).

1.5 30 KP KI M Command 50 Gc Gpc K Gp Gs

b. What is the settling time?

c. Repeat parts a and b using the observer-based system of Experiment 10C.

d. Why is there a large difference in settling times? How does that difference relate to the observer?

8 R Solver TSample R 20 Freq Scale1: 1 Time: 0.05

DATA FROM REPEAT PARTS A AND B

a. Open Experiment 10A and retune the system for reasonable margins of stability (e.g., find maximum KP without overshoot and maximum KI for 30% overshoot to step).

b. What is the settling time?

1.5 30 KP KI M Command 50 Gc Gpc K Gp Gs 8 R Solver TSample R 20 Freq Scale1: 1 Time: 0.05

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