Question: Using Experiment 3A, follow the zone-based tuning procedure of Section 3.5 using a square wave command with the following criteria: For KP, allow no overshoot.

Using Experiment 3A, follow the zone-based tuning procedure of Section 3.5 using a square wave command with the following criteria: For KP, allow no overshoot. For KI, allow about 10% overshoot.

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

a. What are KP and KI?

b. Repeat Question 1a, but inject extra phase lag in the loop by reducing the feedback filter break frequency to 100 Hz.

DATA FROM QUETION 1A

a. Using Experiment 3A, what is the gain margin with the default settings? What is this on the linear scale?

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

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