A robotic system with transfer function ?(?) =(100)/(s(0.1s+1)(0.1s +1)) is controlled with gain K as shown in the figure. A)To analyze the frequency response of this system, draw the Nyquist graph. B)Apply the Nyquist stability criterion. C)Verify the stability analysis you made in part (b) by plotting root locus plots for the positive and negative values of the K gain.
A robotic system with transfer function ?(?) =(100)/(s(0.1s+1)(0.1s +1)) is controlled with gain K as shown in the figure.
A)To analyze the frequency response of this system, draw the Nyquist graph.
B)Apply the Nyquist stability criterion.
C)Verify the stability analysis you made in part (b) by plotting root locus plots for the positive and negative values of the K gain.
D)Calculate the gain value that makes this system borderline stable and show it on Nyquist and Root locus graphs.
E)Calculate the gain margin, phase margin, gain crossover frequency and phase crossover frequency values.
F)Explain whether the system is stable over the gain margin and phase margin values.
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