The system of Advanced Problem AP 10.1 is required to have a percent overshoot less than 13% with a steady state error for a unit ramp input less than 0.125(Kv = 8). Design a proportional plus integral (PI) controller to meet the specifications.
Problem AP10.1
A three-axis pick-and-place application requires the precise movement of a robotic arm in three dimensional space, as shown in Figure AP10.1 for joint 2. The arm has specific linear paths it must follow to avoid other pieces of machinery. The overshoot for a step input should be less than 13%.
(a) Let Gc(s) = K, and determine the gain K that satisfies the requirement. Determine the resulting settling time (with a 2% criterion), (b) Use a lead network and reduce the settling time to less than 3 seconds.
