Introductory Circuit Analysis (13th Edition)
Introductory Circuit Analysis (13th Edition)
13th Edition
ISBN: 9780133923605
Author: Robert L. Boylestad
Publisher: PEARSON
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Q1 Q2 A control system is described by the block diagram in Figure 1 where R(s) is reference input and Y(s) is system output. (a) (b) (a) (b) Find the transfer function Y(s)/R(s) using block diagram reduction. R(S) Determine the steady state output in response to the unit step input. R(S) + S 2s + 5 сл 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. K 1+-+s S + PID Controller s²+2 Find the closed-loop transfer function Ⓒ(s)/R(s). Figure 1 1 s² Use the Routh-Hurwitz stability criterion to determine the range of the parameter K such that the closed-loop system is stable. Y(s) 2 s² + 3s + 2 Robot Leg dynamics Ⓒ(s)
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Transcribed Image Text:Q1 Q2 A control system is described by the block diagram in Figure 1 where R(s) is reference input and Y(s) is system output. (a) (b) (a) (b) Find the transfer function Y(s)/R(s) using block diagram reduction. R(S) Determine the steady state output in response to the unit step input. R(S) + S 2s + 5 сл 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. K 1+-+s S + PID Controller s²+2 Find the closed-loop transfer function Ⓒ(s)/R(s). Figure 1 1 s² Use the Routh-Hurwitz stability criterion to determine the range of the parameter K such that the closed-loop system is stable. Y(s) 2 s² + 3s + 2 Robot Leg dynamics Ⓒ(s)
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