A rover vehicle designed for use on other planets and moons is shown in Figure DP7.12 (a) [21]. The block diagram of the steering control is shown in Figure DP7.12 (b), where
(a) When Gc(s) = K, sketch the root locus as K varies from 0 to 1000. Find the roots for K equal to 100, 300, and 600. (b) Predict the overshoot, settling time (with a 2% criterion), and steady-state error for a step input, assuming dominant roots, (c) Determine the actual time response for a step input for the three values of the gain K, and compare the actual results with the predicted results.
