We wish to design a velocity control for a tape-drive servomechanism. The transfer

Chapter 5, Problem 5.36

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We wish to design a velocity control for a tape-drive servomechanism. The transfer function from current I(s) to tape velocity (s) (in millimeters per millisecond per ampere) is We wish to design a Type 1 feedback system so that the response to a reference step satisfies tr 4 msec, ts 15 msec, Mp 0.05. (a) Use the integral compensator kI/s to achieve Type 1 behavior, and sketch the root locus with respect to kI . Show on the same plot the region of acceptable pole locations corresponding to the specifications. (b) Assume a proportional-integral compensator of the form kp (s + )/s, and select the best possible values of kp and you can find. Sketch the root-locus plot of your design, giving values for kp and , and the velocity constant Kv your design achieves. On your plot, indicate the closed-loop poles with a dot () and include the boundary of the region of acceptable root locations.