(Solved): please I need a complete answer. In the following figure two robots are shown cooperating with each ...
please I need a complete answer.
In the following figure two robots are shown cooperating with each other to manipulate a long shaft to insert it into a hole in the block resting on the table. The unity feedback control system of one robot joint has the process transfer function G(s)=s(s+2)20 The specifications require a steady-state error for a unit ramp input of 0.02 and the step response has an overshoot of ≤15% with a settling time of ≤1s, with a 2% criterion. Design a state-feedback control that will meet the specifications. Plot the compensated responses for the step and ramp inputs.