7.53 A simplified model for the control of a flexible robotic arm is shown inFig. 7.98, wherek/M = 900 rad/sec?,y = output, the mass position,u = input, the position of the end of the spring.Problems 629M(a) Write the equations of motion in state-space form.(b) Design an estimator with roots at s = -100 + 100j.(c) Could both state-variables of the system be estimated if only ameasurement of j was available?(d) Design a full-state feedback controller with roots at s = -20 + 20j.(e) Would it be reasonable to design a control law for the system withroots at s = -200 + 200j. State your reasons.() Write equations for the compensator, including a command input fory. Draw a Bode plot for the closed-loop system and give the gain andphase margins for the design.

given roots are S=-100±100j =-100±100Sby using these roots we can…

Fig. 7.98, where k/M = 900 rad/sec, y = output, the mass position, u = input, the position of the end of the spring. Problems 629 M (a) Write the equations of motion in state-space form. (b) Design an estimator with roots at s = -100 + 100j. (c) Could both state-variables of the system be estimated if only a measurement of ý was available? (d) Design a full-state feedback controller with roots at s = -20 + 20j. (e) Would it be reasonable to design a control law for the system with

Fig. 7.98, where k/M = 900 rad/sec, y = output, the mass position, u = input, the position of the end of the spring. Problems 629 M (a) Write the equations of motion in state-space form. (b) Design an estimator with roots at s = -100 + 100j. (c) Could both state-variables of the system be estimated if only a measurement of ý was available? (d) Design a full-state feedback controller with roots at s = -20 + 20j. (e) Would it be reasonable to design a control law for the system with

Elements Of Electromagnetics

7th Edition

ISBN:9780190698614

Author:Sadiku, Matthew N. O.

Publisher:Sadiku, Matthew N. O.

ChapterMA: Math Assessment

Section: Chapter Questions

Problem 1.1MA

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