Understanding the behavior of a human steering an automobile remains an interesting subject [14, 15, 16, 21]. The design and development of systems for four-wheel steering, active suspensions, active independent braking, and "drive-by-wire" steering provide the engineer with considerably more freedom in altering vehicle-handling qualities than existed in the past.
The vehicle and the driver are represented by the model in Figure DP8.1, where the driver develops anticipation of the vehicle deviation from the center line. For K = 1, plot the Bode diagram of (a) the loop transfer function Gc(s)G(s) and (b) the closed-loop transfer function T(s). (c) Repeat parts (a) and (b) when K = 50. (d) A driver can select the gain K. Determine the appropriate gain so that Mpω ≤ 2, and the bandwidth is the maximum attainable for the closed-loop system, (e) Determine the steady-state error of the system for a ramp input r(t) = t.
