Question 1 Open-loop tests taken on a given plant Gp produced the following results: 0.1 0.25 0.5 1 -6.0 -6.1 -6.3 -7.3

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Question 1 Open Loop Tests Taken On A Given Plant Gp Produced The Following Results 0 1 0 25 0 5 1 6 0 6 1 6 3 7 3 1 (114.99 KiB) Viewed 31 times

Question 1 Open-loop tests taken on a given plant Gp produced the following results: 0.1 0.25 0.5 1 -6.0 -6.1 -6.3 -7.3 -4 -11 -21 -41 00 Magn.(G₂(jo)) Angle(Gp(jo)) (b) 2 -10.0 -72 (c) 3 -13.1 -93 4 -16.0 -108 rad/s dB The plant is to be controlled with zero error for a constant input, and to follow a ramp input r(t) = 2t with a lag not exceeding 1.0. The closed-loop resonance peak Mp should be limited to about 2 dB. (a) O Using a preliminary design with a pure integral controller to meet the above specifications, plot the Nichols chart for this controller to see if the required Mp can be met. You may plot every second point (@= 0.1, 0.5, 2, 4 rad/s) in the interests of time. [8 marks] Refine the controller design using a phase-lead compensator, choosing an appropriate value of r to validate when the Mp limit is satisfied via the Nichols chart. You may plot every second point as in the previous part. [10 marks] Draw the final plant plus controller system for the refined design found in (b). [2 marks]