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Flexible-joint robotic arms are constructed of lightweight materials and exhibit lightly damped open-loop dynamics [15]. A feedback control system for a flexible arm is shown in Figure DP9.2. Select K so that the system has maximum phase margin. Predict the overshoot for a step input based on the phase margin attained, and compare it to the actual overshoot for a step input. Determine the bandwidth of the closed-loop system. Predict the settling time (with a 2% criterion) of the system to a step input and compare it to the actual settling time. Discuss the suitability of this control system.

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