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# HW4 - 2(a Bollinger 2.4 Obtain the first five responses of...

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ME 576 Homework #4 Due: 3/8/2011 1. Figure 1 shows the force control loop covered in the class. Determine the system stability with the controller designed in the class while including the second order dynamics given by 1 + s 2 + s K = (s) G n 2 n 2 m m ω ζ ω f K a 1 + 0.02s 0.04 = (s) G 1 - p f p Use the following values: ω n = 20 rad/sec, ζ =0.2, K m =0.2, a =3 mm, K f =1500 N/mm, f =0.1, p =0.8. Design a PID controller for problem 1 using the Ziegler Nichols tuning method. (Use the
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Unformatted text preview: 2. (a) Bollinger 2.4. Obtain the first five responses of the system with y(0)=0 and x(0)=x(1)=x(2)=1 and x(k)=0, k=3,4, … Assume τ =2 and K=1. (b) Repeat part (a) with the second order derivative expression covered in class. 3. Bollinger 2.15 a. Use backward transformation b. Use bilinear transformation 4. (a) Bollinger 2.29 (a) and (b). (b) Bollinger 2.30....
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