Anonymous asked in Science & MathematicsEngineering · 1 month ago

hi can someone help me solve this control exercise?

.- We want to quickly and accurately control the position of a robot that has an independent angular speed controller in each of the joints. The following block diagram shows an estimated model of a joint with its speed control:

block diagram Wref---------->(e^(-0.005s)------------>((28(s+7)/(s+14)^2-------------->W

Designing a suitable position controller for this joint is required in the following cases:

- Proportional controller.

- Phase advance compensator. For design considerations, the maximum compensator phase advance is 45◦.

Note: It is recommended to first draw the system block diagram with the position controller, keeping in mind that the input is the desired position reference and the output is the position θ of the robot joint (not its speed ω).

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