Problem Statement The figure below depicts the pitch angle control structure for an unmanned submersible. Reference Pitc

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Problem Statement The Figure Below Depicts The Pitch Angle Control Structure For An Unmanned Submersible Reference Pitc 1 (67.99 KiB) Viewed 37 times

Problem Statement The Figure Below Depicts The Pitch Angle Control Structure For An Unmanned Submersible Reference Pitc 2 (35.81 KiB) Viewed 37 times

Now,Solve the following:

Problem Statement The Figure Below Depicts The Pitch Angle Control Structure For An Unmanned Submersible Reference Pitc 3 (99.5 KiB) Viewed 37 times

Problem Statement The figure below depicts the pitch angle control structure for an unmanned submersible. Reference Pitch Angle Controller Actuator Pitch Dynamics G() Pitch Angle Response 0,(s) - K(s) Gelev (s) + + 0(s) Gpr(s) Inner-Loop Sensor Dynamics 2.5 Gelev (s) = 5+2.5' 0.125(5 +0.435) G,(s)= (s +1.23)(s? +0.2265 +0.0169) Gp(s)=s pr Utilizing this control structure, please complete a controller design and analysis based on the following requirements, in the specified order.

0 (s) 0(s) + K(s) Gelev(s)G, (s) Gr(s) 0,(8) 0(5) K(s) Geley(s),(s) G 1+Golev(s),(s)G(s) 0,(s) 0(s) + K(s)Gelev(s)G(s) 1+Gelev(s),(s),(s) Figure 2: Unity Feedback Diagram

(5 pts) Assume K(s)=K, a positive gain. Generate the system's root locus plot using MATLAB and graphically demonstrate the stable range of positive K values directly from the root locus (must be shown in a figure). (40 pts) Use root locus techniques to design a PD compensator within K (s) that yields • No more than 10% transient overshoot, • No more than 15 sec transient settling time. Note: You may utilize the MATLAB Control System Designer. The design may have to be repeated (iterated) to fully satisfy the specified conditions. Clearly specify the following for the successfully designed system: Selected design point on the s-plane, PD compensator TF, Value of K to yield the designed CL system, Compensated root locus plot, Simulated step response plot that demonstrates the specified criteria, CL TF, CL pole locations at the specified value of K.