The block diagram of a position control system is shown in Figure P12.20. Design a compensator for the particular plant
Gp (s) = 1 / s(s2 + 3s + 2)
So that the static velocity error coefficient will be Cu = 5/sec, the gain margin will be no less than 10 dB, and the phase margin no less than 40o.
Figure P12.20

Transcribed Image Text:

θ(s) G1(s) s(ls c) Controller Motor θ(s) G1(s) s(Ls R) (Is + c) Plant Gp(s) Controller