In the United States, billions of dollars are spent annually for solid waste collection and disposal. One system, which uses a remote control pick-up arm for collecting waste bags, is shown in Figure P9.19. The loop transfer function of the remote pick-up arm is
(a) Plot the Nichols chart and show that the gain margin is approximately 32 dB. (b) Determine the phase margin and the Mpω for the closed loop. Also, determine the closed-loop bandwidth.
