(a) A robotic manipulator together with a cascade PI controller has a has a transfer function G(s) as Figure 4. R(s) E(s

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A A Robotic Manipulator Together With A Cascade Pi Controller Has A Has A Transfer Function G S As Figure 4 R S E S 1 (53.99 KiB) Viewed 28 times

(a) A robotic manipulator together with a cascade PI controller has a has a transfer function G(s) as Figure 4. R(s) E(s) Where G(s) = K₂ + K, 48,5000 ss² +2.89s iii) G(s) Figure 4 C(s) i) Find the value of K, that will result in ess=2% for a parabolic input. (14 Marks) [CO3, PO2, C4] ii) Using the value of K, found in Part a, plot the root locus of the system as a function of. (7 Marks) [CO3, PO2, C4] Find the value of Kp that will result in a real pole at - 1. Find the location of the other two poles.?