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Unformatted text preview: There are n m = 2 distinct asymptotes with angles The closedloop characteristic equation is Substituting s = j into the closedloop characteristic equation and rearranging Compensators Setting the real and imaginary parts equal to zero and solving simultaneously, K = 12.89. Since only positive values for K are considered, the closedloop system is stable for K > 0. The closedloop system is always underdamped. As K approaches , approaches 0. The 2% settling time decreases as K increases and approaches 4/4.5 s as K approaches . For r ( t ) = 1, The closedloop poles are located at The damping ratio and natural frequency, respectively, of the poles at are and The time constant of the pole at s = 6.265 is The Root Locus Diagram and simulation plots are given below. 5 10 0.5 1 1.5 time (s) r y 5 100.5 0.5 1 time (s) e(t) 5 1010 10 20 time (s) u(t)15105 54020 20 40...
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This note was uploaded on 02/01/2012 for the course MECH ENG 279 taught by Professor Landers during the Spring '11 term at Missouri S&T.
 Spring '11
 LANDERS

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