Consider the cascade control system in Fig. E16.3. (a)
Chapter 16, Problem 16.3(choose chapter or problem)
Consider the cascade control system in Fig. E16.3. (a) Specify Kcz so that the gain margin :=:: 1.7 and phase margin :=:: 30 for the slave loop. (b) Then specify Kcl and TJ for the master loop using the Ziegler-Nichols tuning relation and simulate the closedloop response for a set-point change.
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