The stability and performance of the rotation

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The stability and performance of the rotation of a robot (similar to waist rotation) presents a challenging control problem. The system requires high gains in order to achieve high resolution; yet a large overshoot of the transient response cannot be tolerated. The block diagram of an electrohydraulic system for rotation control is shown in Figure P10.24 [15]. The arm rotating dynamics are represented by

We want to have K_v = 20 for the compensated system. Design a compensator that results in an overshoot to a step input of less than 10%.

Reference no: EM131127329

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The stability and performance of the rotation : The stability and performance of the rotation of a robot (similar to waist rotation) presents a challenging control problem. The system requires high gains in order to achieve high resolution;

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