The system of Advanced Problem AP10.1 is to have a percent overshoot less than 13%. In addition, we desire that the steady-state error for a unit ramp input will be less than 0.125 (Kv = 8) [24]. Design a lag network to meet the specifications. Check the resulting percent overshoot and settling time (with a 2% criterion) for the design.
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.
