Question: For the system of Experiment 8A: a. Set the sample rate at 1 kHz (TSample = 0.001) and zero feed-forward. Tune the PI controller so

For the system of Experiment 8A:

Command (a) Feedback Scale1: 10 (Off: 25) Scale2: 10 Time: 0.02

a. Set the sample rate at 1 kHz (TSample = 0.001) and zero feed-forward. Tune the PI controller so KVis at the maximum value without overshoot and KI causes about 10%

overshoot to a square wave. What are the gains?

b. What is the bandwidth? Note: Since the controller samples at 1 kHz, aliasing begins at 500 Hz. Since the FFT shows frequencies up to 2 kH, you will see the effects of aliasing; concentrate on the frequencies below 500 Hz.

c. Repeat parts a and b for a sample time of 0.0001 seconds.

d. What is the relationship between TSample and bandwidth?

Command (a) Feedback Scale1: 10 (Off: 25) Scale2: 10 Time: 0.02

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