Introductory Circuit Analysis (13th Edition)
Introductory Circuit Analysis (13th Edition)
13th Edition
ISBN: 9780133923605
Author: Robert L. Boylestad
Publisher: PEARSON
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A PID controller is designed to control the robot leg, and the control system is shown in Figure 2 where K is a positive gain. (a) (b) R(s) Find the closed-loop transfer function Ⓒ(s)/R (s). Use the Routh-Hurwitz stability criterion to determine the range of the parameter K such that the closed-loop system is stable. K 1+-+s S PID Controller 2 s² + 3s + 2 Robot Leg dynamics e(s)
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Transcribed Image Text:A PID controller is designed to control the robot leg, and the control system is shown in Figure 2 where K is a positive gain. (a) (b) R(s) Find the closed-loop transfer function Ⓒ(s)/R (s). Use the Routh-Hurwitz stability criterion to determine the range of the parameter K such that the closed-loop system is stable. K 1+-+s S PID Controller 2 s² + 3s + 2 Robot Leg dynamics e(s)
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