a) How many integrators (1/s terms) are there in the forward path of this unity gain feedback
system? What is the system type?
b) Assume Jm = 1 kg m², b Kt = 1Nm, Kb = Vsrad-1 , R =10 and a
controller gain of Kc =10. By hand, show that the steady state error for a step input is
c) Confirm this result in Matlab (using the step input) or Simulink by plotting the error
signal versus time.
moving the robot arm to a given position, you decide to continually rotate the
joint at a constant velocity with an input r(t) = t. What is the steady state
Confirm this result in Matlab or Simulink by plotting the error signal versus time.
f) Find a value of Kc that will reduce ess below 0.1 rad.
more realistic servomotor block diagram is shown below. In this case, the block next to
the input represents a gain of V rad=1 for the knob input and the block in the feedback
path represents a sensor gain of
g) Find the equivalent unity gain feedback system using block diagram simplification.
h) What is the system type?
i) Calculate the steady state error for a step input? Assume Kinput =5 V rad - 1 and K, sensor .
j) Confirm this result in Matlab or Simulink.
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