An open-loop swivel controller and plant for an industrial robot has the transfer function Ge s o s Vi s K s 10 s 2 4s 10 where o s is the Laplace transform of the robots angular swivel velocity and Vi(s) is the input voltage to the controller. Assume Ge(s) is the forward transfer function of a velocity control loop with an input transducer and sensor, each represented by a constant gain of 3 (Schneider, 1992). a. Find the value of gain, K, to minimize the steadystate error between the input commanded angular swivel velocity and the output actual angular swivel velocity. b. What is the steady-state error for the value of K found in Part a? c. For what kind of input does the design in Part a apply?
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