The first row of Table 4.2 provides “aggressive” assumptions. Using Experiment 4A, examine the meaning of “aggressive” in this context.

DATA FROM TABLE 4.2

a. Validate the entry in Table 4.2 for “aggressive, position-based motion systems.” Use parameter settings from Section 4.4.2.

b. What is the PM?

c. Aside from the 90 lag from the integrator, what portion of the phase lag in the loop comes from sample delay? Comment.

Assumptions Aggressive Based on Target... Moderate Conservative Max. bandwidth Min. settling time Max. bandwidth Min. settling time Max. bandwidth Min. settling time General Systems 1/5th sample time 4-5 sample intervals 1/10th sample time 6-8 sample intervals 15 sample intervals Position-Based Motion System 1/8th sample time 8-10 sample intervals 1/20th sample time 15-20 sample intervals 20 sample intervals