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Engineering · Electrical Engineering
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Q6. The feedback control system illustrated in Figure 5 incorporates an integral controller H(s) and a second order plant G(s) Plant Controller KI H(s) R(s) Y(s) s2+21s+20 G(s) Figure 5 6.a. Determine the integral gain K, required to achieve a steady state error of 0.1 in [4 marks response to a ramp reference signal (ie, r(t) = t, t 2 0 ) 6.b. Draw the Bode plot of the forward path gai.e. GH(ja)] for the integral gain calculated in part (a) above. Use the semi-logarithmic graph paper provided in this question book, and use straight line approximations for both the magnitude and phase 8 marks/ 6.с. Using the Bode plot obtained in part (b) determine the phase margin and cross-over frequency for this system, and hence identify whether the system is stable when the [4 marks/ responses integral gain calculated in part (a) is applied. Design a lead compensator for this control system, so as to achieve a phase margin of at least φ. = 400, and a closed loop system bandwidth of at least al-S rad/s. /4 marks/ 6.d.

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